Methods and systems for scheduling the transmission of localization signals and operating self-localizing apparatus

ABSTRACT

Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/167,482, filed Oct. 22, 2018, which is a continuation of U.S. patentapplication Ser. No. 15/168,122, filed May 30, 2016 (now U.S. Pat. No.10,111,044), which claims the benefit of U.S. Provisional PatentApplication No. 62/168,704, filed May 29, 2015, and is acontinuation-in-part of U.S. patent application Ser. No. 15/063,104,filed Mar. 7, 2016 (now U.S. Pat. No. 9,885,773), all of which arehereby incorporated by reference herein in their entireties.

FIELD

The present disclosure relates to the field of localizing objects. Thedisclosure also relates to localization systems and methods that usetimestampable signals such as ultra-wideband (UWB) signals. Thedisclosure further relates to operating self-localizing apparatuses.

BACKGROUND

Logistics and industrial automation increasingly rely on accuratelocalization to support and control manual and automated processes, withapplications ranging from “smart things” through effective tracking andassistance solutions to robots such as automated guided vehicles (AGVs).

UWB technology has been advocated as a localization solution suitablefor asset tracking applications. Such applications are concerned withmaintaining a centralized database of assets and their storage locationsin a warehouse, hospital, or factory. When using UWB technology, assets,such as pallets, equipment, or also people may be equipped with tagsthat emit UWB signals at regular intervals. These signals may then bedetected by UWB sensors installed in the warehouse, hospital, orfactory. A central server then uses the UWB signals detected by the UWBsensors to compute the tag's location and update the centralizeddatabase.

Mobile robots are increasingly used to aid task performance in bothconsumer and industrial settings. Autonomous mobile robots in particularoffer benefits including freeing workers from dirty, dull, dangerous, ordistant tasks; high repeatability; and, in an increasing number ofcases, also high performance. A significant challenge in the deploymentof mobile robots in general and autonomous mobile robots in particularis robot localization, i.e., determining the robot's position in space.Current localization solutions are not well suited for many mobile robotapplications, including applications where mobile robots operate inareas where localization such as that provided by global navigationsatellite systems (GNSS) is unreliable or inoperative, or applicationsthat require operation near people.

Using current UWB localization solutions for robot localization wouldnot enable a mobile robot to determine its own location directly.Rather, a robot equipped with a tag would first emit an UWB signal fromits location, UWB sensors in its vicinity would then detect that UWBsignal and relay it to a central server that would then compute themobile robot's location, and then this location would have to becommunicated back to the robot using a wireless link. This type ofsystem architecture invariably introduces significant communicationdelays (e.g., latency) for controlling the mobile robot. Thiscommunication architecture also results in a relatively higher risk oflost signals (e.g., due to wireless interference) and correspondinglylower system robustness, which makes it unsuitable for manysafety-critical robot applications (e.g., autonomous mobile robotoperation). Furthermore, in this architecture the maximum number of tagsand the tag emission rate (i.e., the localization system's update rate)are invariably linked because in these systems multiple UWB signalscurrently do not overlap. This results in limited scalability for agiven tag emission rate (i.e., the system can only support a limitednumber of tags in parallel). In addition, if a higher tag emission rateor redundancy is required, then a smaller number of tags will need to beused. In addition, with such an architecture, the maximum update ratefor determining the position of tags is inversely proportional to thenumber of tags. This is unsuitable for situations where a large numberof objects need to be tracked with a high update rate.

Another localization system proposed in the prior art uses mobiletransceivers that communicate with stationary transceivers through thetwo-way exchange of UWB signals. Two-way communication with a stationarytransceiver enables a mobile transceiver to compute the time-of-flightbetween itself and the stationary transceiver. In this architecture,communication between mobile transceivers and stationary transceiversmust be coordinated, such that communications do not interfere.Knowledge of the time-of-flight to three or more stationary transceiversenables each mobile transceiver to compute its relative location withinan environment using trilateration. Because each mobile transceivercommunicates with each stationary transceiver, the update rate of thesystem is inversely proportional to the number of mobile transceiversand to the number of stationary transceivers. This architecture istherefore not suitable for systems where a large number of objects mustbe localized at a high frequency (e.g., tracking a group of robots,where position measurements are used in the robots' control loops toinfluence the robots' motions), where a mobile transceiver's position oridentity should be kept private (e.g., tracking people), where bothtransceiver redundancy and high update frequency are desired (e.g.,safety critical applications such as positioning systems for vehicles),or in multipath environments, which require a maximum of transceivers tohelp disambiguate multipath signals, where a high update frequency and alarge number of tracked objects are desired (e.g., robot warehouses).

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present disclosure are illustrated by way of exampleand not limitation in the figures of the accompanying drawings, in whichlike references indicate similar elements and in which:

FIG. 1 is a block diagram of an illustrative localization system inaccordance with some embodiments of the present disclosure;

FIG. 2 is a block diagram of illustrative transceivers andself-localizing apparatus of a localization system in accordance withsome embodiments of the present disclosure;

FIG. 3 is a detailed block diagram of illustrative transceivers of alocalization system in accordance with some embodiments of the presentdisclosure;

FIG. 4 is a block diagram of an illustrative transceiver comprising apair of first and second transceivers in accordance with someembodiments of the present disclosure;

FIG. 5 is a block diagram of an illustrative self-localizing apparatusin accordance with some embodiments of the present disclosure;

FIG. 6 is an illustrative timing diagram in accordance with someembodiments of the present disclosure;

FIG. 7 is a block diagram of an illustrative self-localizing apparatuscomprising a pair of first and second first self-localizing apparatusesin accordance with some embodiments of the present disclosure;

FIG. 8 is a block diagram of an illustrative self-localizing apparatuscomprising multiple selectable antennas in accordance with someembodiments of the present disclosure;

FIG. 9 is a block diagram of an illustrative localization unit, whichincludes a location update process, in accordance with some embodimentsof the present disclosure;

FIG. 10 shows an illustrative mobile robot including a self-localizingapparatus in accordance with some embodiments of the present disclosure;

FIG. 11 is a block diagram of an illustrative control unit that may beused, for example, with the mobile robot of FIG. 10 in accordance withsome embodiments of the present disclosure;

FIG. 12 shows an illustrative transceiver network with a large number oftransceivers in accordance with some embodiments of the presentdisclosure;

FIG. 13 shows an illustrative simplified transceiver network inaccordance with some embodiments of the present disclosure;

FIG. 14 shows an illustrative transceiver network having geographicallyadjacent cells in accordance with some embodiments of the presentdisclosure;

FIG. 15 shows an illustrative mobile robot operating in an area servicedby multiple transceiver cells in accordance with some embodiments of thepresent disclosure;

FIG. 16 shows illustrative input parameter maps that can be used fordetermining a schedule in accordance with some embodiments of thepresent disclosure;

FIG. 17 shows illustrative dynamic positioning performance map used fordetermining a schedule in accordance with some embodiments of thepresent disclosure;

FIG. 18 shows an illustrative example of how a schedule can be adjustedin accordance with some embodiments of the present disclosure;

FIG. 19 shows another illustrative example of how a schedule can beadjusted in accordance with some embodiments of the present disclosure;

FIG. 20 shows an illustrative example of how a schedule can be adjustedfor two groups of mobile robots in accordance with some embodiments ofthe present disclosure;

FIG. 21 is a diagram of an illustrative structure of a localizationsignal in accordance with some embodiments of the present disclosure;

FIG. 22 shows an illustrative transmission schedule that may be used toachieve a higher localization update rate in accordance with someembodiments of the present disclosure;

FIG. 23 shows a portion of the illustrative transmission schedule ofFIG. 22 and corresponding receiver activity in accordance with someembodiments of the present disclosure;

FIG. 24 shows an illustrative transmission schedule of localizationsignals comprising two payloads in accordance with some embodiments ofthe present disclosure;

FIG. 25 shows an illustrative localization system and a correspondingperformance map in accordance with some embodiments of the presentdisclosure;

FIG. 26 shows the illustrative localization system of FIG. 25 used witha different performance map in accordance with some embodiments of thepresent disclosure;

FIG. 27 shows the illustrative localization system and a correspondingperformance map in accordance with some embodiments of the presentdisclosure;

FIG. 28 shows the illustrative localization system of FIG. 25 used witha different performance map in accordance with some embodiments of thepresent disclosure;

FIG. 29 shows an illustrative transmission schedule of localizationsignals in accordance with some embodiments of the present disclosure;

FIG. 30 shows another illustrative transmission schedule of localizationsignals in accordance with some embodiments of the present disclosure;

FIG. 31 shows an illustrative flow chart of logic that may beimplemented on a self-localizing apparatus to configure its receiver inaccordance with some embodiments of the present disclosure;

FIG. 32 shows an illustrative application of a performance map to anindoor and outdoor environment in accordance with some embodiments ofthe present disclosure;

FIG. 33 shows two illustrative localization networks in accordance withsome embodiments of the present disclosure;

FIG. 34 is a block diagram of an illustrative bridge anchor inaccordance with some embodiments of the present disclosure; and

FIG. 35 is a block diagram of another illustrative bridge anchor inaccordance with some embodiments of the present disclosure.

DETAILED DESCRIPTION

In accordance with the present disclosure, limitations of currentsystems for localizing have been reduced or eliminated. In addition, thepresent disclosure provides various technical advantages over currentlocalization systems.

Technical advantages of certain embodiments of the present disclosurerelate to localizing objects in two-dimensional or three-dimensionalspace. For example, in an embodiment where a self-localizing apparatusis used to determine the location of a wheeled mobile robot, atransmission schedule may be optimized such that it accounts for therelative location of the anchors to the robot's operating area orcurrent position, or such that it accounts for the robot's movementconstraints (e.g., all possible locations are in a 2D plane). Furthertechnical advantages of certain embodiments may optimize the performanceof a localization system for a specific use case or application, eitherin real-time or offline. For example, in certain embodiments, thetransmission schedule may be dynamically reconfigured based onpredetermined rules (e.g., based on comparing the estimated location ofa self-localizing apparatus with one or more predetermined locations,based on a timecode, based on a property) or based on a request (e.g.,an operator command).

Technical advantages of certain embodiments improve the localizingaccuracy or precision. Technical advantages of certain embodimentsimprove the rate or latency at which the localizing information may beobtained or updated. For example, in certain embodiments overlapping yetnot interfering localization signals may be used to allow aself-localizing apparatus to determine its position at a higher rate ina particular region or at a particular time. Technical advantages ofcertain embodiments improve the information content of the localizationinformation. For example, in some embodiments a self-localizingapparatus may select to receive localization signals such that aparticularly high uncertainty of its position estimate in a certainspatial direction or along a certain spatial axis is reduced.

Yet further technical advantages of certain embodiments relate to thereception of wireless signals used, for example, by a device todetermine its own location. In some embodiments, the reception oflocalizing signals does not deteriorate when a direct line of sightcannot be established between a receiving device and a sufficientlylarge number of signal transmitters. For example, some embodiments allowoperation in areas both without good line of sight to GNSS satellitesand indoors. In some embodiments, signals are not distorted bymultipath, do not suffer multipath fading observed in narrowbandsignals, or do not suffer from reduced signal quality when lackingdirect line of sight in indoor environments. For example, someembodiments do not show performance degradation in enclosed environments(e.g., indoors), in forests, or in dense urban environments, such asthose where retaining a lock on a GNSS signals becomes more difficult.

Technical advantages of some embodiments may allow arrival of aplurality of localization signals at a receiver's antenna with adequatetime separation, avoiding degraded signal detection and reducedperformance of a localization system, even in situations of signaloverlap.

Technical advantages of some embodiments are such that they may be usedin real-time or may be used by an unlimited number of receivers, todetermine their 2D or 3D position, in GPS-denied environments or anyenvironment where greater accuracy or system redundancy or failsafeoperation may be desired.

Technical advantages of some embodiments may increase performance ofcurrent mobile robots and allow new uses of mobile robots by enablinglocalization with higher update rates, with lower latency, in largerspaces, or with higher accuracy than currently possible, resulting inmore performant robot control.

Further technical advantages of some embodiments may allow a person, amobile robot, or another machine to be equipped with a self-localizingapparatus that can determine its 3D position in space without the needto emit signals. This may increase localization performance and allownew uses of localization technology by providing regulatory advantages;by allowing scalability (e.g., the system may be used by an unlimitednumber of self-localizing apparatuses in parallel) or in an arbitrarilylarge space; by allowing higher redundancy (e.g., non-emittingapparatuses allow for more emitting anchors for a given network trafficload); by enabling more efficient bandwidth usage (e.g., loweremissions, less interference); by increasing energy efficiency of thereceivers (e.g., by not requiring energy for transmissions); byenhancing privacy of operation; and by making data available locallywhere it is needed, resulting in increased update rates, lower latency,higher speed, and greater system robustness.

Further technical advantages of some embodiments may allow improvedsystem performance by fusing data from several sources including one ormore localization networks (e.g., UWB networks), readings of globalproperties from multiple locations, and onboard motion sensors.

Further technical advantages of some embodiments are linked to providinga distributed localization system. Such a system may provide increasedrobustness and safety for robot operation because it does not rely onsensor signals from a single source. It may also offer gracefulperformance degradation by providing redundancy; may allowidentification and resolution of inconsistencies in data by providingredundant data; and may provide higher performance by performinglocalization based on a comparison of the signals received fromindividual transceivers.

Yet further technical advantages of some embodiments allow forlocalization without direct line of sight between a transceiver andself-localizing apparatus. Moreover, further technical advantages allowfor lower susceptibility to disturbance from radio frequency traffic,secure communications, and increasing resistance to interference, noise,and jamming.

Further technical advantages will be readily apparent to one skilled inthe art from the following description, drawings, and claims. Moreover,while specific advantages have been enumerated above, variousembodiments may include all, some, or none of the enumerated advantages.The listed advantages should not be considered as necessary for anyembodiments.

The present disclosure uses timestampable signals (sometimes referred toherein as “localization signals”). Timestampable signals are radiofrequency (RF) signals, with each signal having a feature that can bedetected and that can be timestamped precisely. Examples of featuresinclude a signal peak, a signal's leading edge, and a signal preamble.Examples of timestampable signals include RF signals with a distinct,well-defined, and repeatable frequency increase or frequency decreasewith time. Further examples of timestampable signals include signalbursts, signal chirps, or signal pulses. Further examples oftimestampable signals include signals with features suitable for phasecorrelation or amplitude correlation techniques (e.g., signals withcodes that have low auto-correlation values).

In some embodiments, the timestampable signal are “open-loop”,one-directional RF signals transmitted over a reception area. Examplesinclude DCF77 time code signals, GPS P-code signals, and terrestrialtrunked radio signals. In some embodiments, the apparatus is anon-emitting apparatus.

In some embodiments, the timestampable signals use a narrow frequencyband. In some embodiments, a center or carrier frequency in the ISM bandis used. In some embodiments, a center or carrier frequency in the rangeof 1 to 48 GHz is used. In some embodiments, a center or carrierfrequency in the range of 2.4 to 12 GHz is used. In some embodiments, acenter or carrier frequency in the range of 3.1 to 10.6 GHz is used. Insome embodiments, higher frequencies are used. Narrow band signals tendto suffer from multipath fading more than wide band signals (e.g.,ultra-wideband (UWB) signals). In narrow band signals, signal durationis typically longer than the delay variance of the channel. Conversely,with UWB signals the signal duration is typically less than the delayvariance of the channel. For example, in the case of an UWB system witha 2 nanosecond pulse duration, the pulse duration is clearly much lessthan the channel delay variation. Thus, signal components can be readilyresolved and UWB signals are robust to multipath fading.

In some embodiments, the timestampable signals are UWB signals. UWBsignals are spread over a large bandwidth. As used herein, UWB signalsare signals that are spread over a bandwidth that exceeds the lesser of125 MHz or 5% of the arithmetic center frequency. In some embodiments,UWB signals are signals that are spread over a bandwidth that exceedsthe lesser of 250 MHz or 10% of the arithmetic center frequency. In someembodiments, UWB signals are signals that are spread over a bandwidththat exceeds the lesser of 375 MHz or 15% of the arithmetic centerfrequency. In some embodiments, UWB signals are signals that are spreadover a bandwidth that exceeds the lesser of 500 MHz or 20% of thearithmetic center frequency. In some embodiments, a bandwidth in therange of 400-1200 MHz is used. In some embodiments, a bandwidth in therange of 10-5000 MHz is used. In some embodiments, a bandwidth in therange of 50-2000 MHz is used. In some embodiments, a bandwidth in therange of 80-1000 MHz is used. Ultra-wideband technology allows aninitial radio frequency (RF) signal to be spread in the frequencydomain, resulting in a signal with a wider bandwidth, ordinarily widerthan the frequency content of the initial signal. UWB technology issuitable for use in a localization system because it can transmit veryshort-duration pulses that may be used to measure the signal's arrivaltime very accurately and hence allow ranging applications. UWB signalsmay be advantageous for use in localization systems because of theircapability to penetrate obstacles and to allow ranging for hundreds ofmeters while not interfering with conventional narrowband and carrierwaves used in the same frequency bands.

In some embodiments, the arrival time of timestampable signals can bemeasured to within 0.6 nanoseconds relative to a clock. In someembodiments, the arrival time of timestampable signals can be measuredto within 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, or 15nanoseconds relative to a clock.

In some embodiments, the transmission rate is measured as the long timeaverage of number of transmissions per second. In some otherembodiments, the transmission rate is measured as the inverse of thelong time average of the time separation between two subsequenttransmissions. In some embodiments, the typical separation one of 1-500microseconds, 1-1,000 microseconds, 1-500 milliseconds, 1-1,000milliseconds, 1-5 seconds, 1-500 seconds, or any combination thereof. Insome embodiments, no separation is used. In some embodiments, thelongtime average is computed over a window of 1-10 seconds. In someother embodiments, the longtime average is computed over a window of1-10 minutes. In some other embodiments, the longtime average iscomputed over a window of 10 minutes.

In some embodiments, the signal's mean equivalent isotropically radiatedpower (EIRP) density is smaller than −40 dBm/MHz at all frequencies. Insome embodiments, the signal's mean EIRP density is smaller than −80,−70, −60, −50, −30, −20, or −10 dBm/MHz at all frequencies.

In some embodiments, the transmitted signal's maximum power is smallerthan 0.1 mW per channel. In some embodiments, the transmitted signal'smaximum power is smaller than 1.0 mW per channel. In some embodiments,the transmitted signal's maximum power is smaller than 100 mW perchannel. In some embodiments, the transmitted signal's maximum power issmaller than 500 mW per channel. In some embodiments, the transmittedsignal's maximum power is smaller than 10 W per channel.

In some embodiments, the less limiting of a signal's EIRP density and asignal's maximum power applies. In some embodiments, the more limitingof a signal's EIRP density and a signal's maximum power applies. In someembodiments, one of a limit on a signal's EIRP density and a limit on asignal's maximum power applies. In some embodiments, both of a limit ona signal's EIRP density and a limit on a signal's maximum power applies.In some embodiments, a limit applies to narrow band signal. In someembodiments, a limit applies to broadband signal.

In some embodiments, a transceiver's typical effective range is between1 m and 50 m. In some embodiments, a transceiver's typical effectiverange is between 1 m and 100 m. In some embodiments, a transceiver'stypical effective range is between 1 m and 500 m. In some embodiments, atransceiver's typical effective range is between 1 m and 1000 m. In someembodiments, a transceiver's typical effective range is between 1 m and5000 m. In some embodiments, the apparatus may only receive UWB signalsfrom a subset of transceivers.

In some embodiments, a maximum data rate of 50 Mbps is used. In someembodiments, a maximum data rate of 5 Mbps is used. In some embodiments,a maximum data rate of 1 Mbps is used.

In some embodiments, chirp spread spectrum (CSS) signals are used. Insome embodiments, frequency-modulated continuous-wave (FMCW) signals areused.

Some embodiments include a localization unit. In some embodiments, thelocalization unit can compute at least one of (i) an orientation ororientation information, (ii) a position, or (iii) a motion of theself-localizing apparatus.

In some embodiments, the localization unit computes the location of theself-localizing apparatus based on the reception times of thetimestampable signals and the known locations of the transceivers. Insome embodiments, a time of arrival scheme is used. In some embodiments,a time difference of arrival scheme is used. Multilateration requiresthe localization unit to compute the time-difference between thereception times of two timestampable signals. By subtracting the knowntime-difference of the signals' transmission times from the differencein their reception times (also referred to as a “TDOA measurement”), alocalization unit may compute the difference in distance to the twotransceivers, from which the signals were transmitted (e.g., transceivertwo is 30 cm further away than transceiver one, since the reception ofthe signal from transceiver two was delayed by 1 ns in comparison to thesignal from transceiver one). By computing the difference in distancebetween multiple transceivers, the localization unit may be able tocompute the location of the self-localizing apparatus by solving asystem of hyperbolic equations, or a linearized version thereof. Methodsof solving this system of equations are well known to those skilled inthe art and may include non-linear least squares, least squares, Newtoniterations, gradient descent, etc. The method of multilaterationrequires the time-difference of the signals' transmission times to beknown.

In some embodiments, the localization unit of the self-localizingapparatus may compute location iteratively. In some embodiments, ratherthan waiting for a timestampable signal to be received from alltransceivers, the localization unit iteratively updates the locationestimate whenever a signal is received. In some embodiments, when atimestampable signal is received, an adjustment to the current locationestimate is computed based on the difference between its reception timeand the reception time of a previously received timestampable signal. Insome embodiments, a known method of filtering (e.g., Kalman filtering,particle filtering) is used to compute or apply this update. In someembodiments, the adjustment is computed based on the variance of thecurrent location estimate (e.g., if the current estimate is highlyaccurate, less adjustment will be applied). In some embodiments, theadjustment is computed based on the locations of the two transceiversfrom which the timestampable signals were transmitted. In someembodiments, this adjustment is computed based on a measurement model,describing the probability distribution of a TDOA measurement based onthe current location estimate and the locations of the two transceivers.In some embodiments, this enables more or less adjustment to be applieddepending on how accurate the TDOA measurement is determined to be(e.g., if a first transceiver lies on a line connecting the currentlocation estimate with a second transceiver, the TDOA measurementresulting from the two transceivers may be considered unreliable, andthus less adjustment applied).

In some embodiments, the localization unit updates a location estimatebased on a system model, describing the probability distribution of theself-localizing apparatus' location. In some embodiments, this systemmodel may be based on other estimated states (e.g., the velocity orheading of the self-localizing apparatus). In some embodiments, thissystem model may be based on input history (e.g., if an input commandshould yield a motion in the positive x-direction according to systemdynamics, it is more probable the new location estimate lies in thepositive x-direction, than in the negative x-direction).

In some embodiments, this system model may be based on measurements froma sensor or global property. In some embodiments, the localization unitmay compute the location of the self-localizing apparatus based on aglobal property. In some embodiments, the localization unit may computethe location of the self-localizing apparatus based on the differencebetween a global property measured by the self-localizing apparatus anda global property measured by one or more of the transceivers (e.g., ifboth self-localizing apparatus and transceiver measure air pressure, therelative altitude difference between the two can be computed accordingto the known relationship between altitude and air pressure).

In some embodiments, the localization unit may use a history of locationestimates and a system model to compute further dynamic states of thebody, for example, velocity or heading. For example, if the history oflocation estimates indicates motion, velocity can be estimated. Afurther example is if the history of location estimates indicates motionin the positive y-direction, and the system model indicates that onlyforward motion is possible (e.g., a skid-steer car), the orientation canbe determined as oriented in the positive y-direction.

In some embodiments, the location is a 1D location, a 2D location, a 3Dlocation, or a 6D location (i.e., including position and orientation).

In some embodiments, the performance of the localization unit (alsoreferred to as localization performance or positioning performance) canbe expressed as an average error of the position estimate. In someembodiments, the localization performance can be expressed as a varianceof the position estimate. In some embodiments, the localizationperformance can be computed based on a dilution of precision. In someembodiments, the localization performance can be computed based on alatency (e.g., the time required for the location unit to detect achange of the self-localizing apparatus' position).

In some embodiments, the relative location computed by the localizationunit is computed with an accuracy of 1 m, 20 cm, 10 cm, or 1 cm. In someembodiments, the time delay between the reception of timestampablesignal and the computation of an updated position estimate provided bythe localization unit is less than 50 ms, 25 ms, 10 ms, 5 ms, 2 ms, or 1ms. In some embodiments, the system's update rate for full positionupdates or for partial position updates is more than 1 Hz, 5 Hz, 10 Hz,50 Hz, 250 Hz, 400 Hz, 800 Hz, 1000 Hz, or 2000 Hz.

In some embodiments, a localization system comprises at least 1, 2, 3,5, 7, 10, 25, 50, 100, or 250 anchors. In some embodiments, alocalization system supports more than 1, 2, 3, 5, 10, 20, 40, 100, 200,500, 1,000, 5,000, or 10,000 self-localizing apparatuses.

A clock as used herein refers to circuitry, structure, or a device thatis capable of providing a measure of time. The measure of time may be inany suitable units of time. For example, the measure of time may bebased on a base unit of a second. As another example, the measure oftime may be based on a counter that increments at a particular rate. Insome embodiments, the clock comprises an internal oscillator used todetermine the measure of time. In some embodiments, the clock determinesthe measure of time based on a received signal (e.g., from an externaloscillator). In some embodiments, a clock interface provides a clocksignal.

In some embodiments, each transceiver may use its own onboard clock. Insome embodiments, a single clock may generate a clock signal transmittedto each transceiver via cables or wirelessly. In some embodiments, theclock signal may be dependent on at least one-time code transmitted by aradio transmitter, or on at least one of a terrestrial radio clocksignal, a GPS clock signal, and a time standard. In some embodiments,the clock signal may be based on a GPS-disciplined oscillator, on atransmitter, or on a time estimate computed from at least two clocks toimprove accuracy or long-term stability of the clock signal.

Clocks may, for example, use a crystal oscillator or a temperaturecompensated crystal. In some embodiments, enhanced clock accuracy may beobtained through temperature stabilization via a crystal oven (OCXO) orvia analog (TCXO) compensation or via digital/micro-controller (MCXO)compensation. In some embodiments, a centralized synchronization unit isused. In some embodiments, an atomic oscillator (e.g., rubidium) is usedas a clock.

In some embodiments, a clock is configured to have an Allan variance ofat most (1×10⁻⁸)² or (1×10⁻⁹)² or)(5×10⁻¹⁰)² for averaging intervalsbetween 5 milliseconds and 10 milliseconds or for averaging intervalsbetween 5 milliseconds and 100 milliseconds or for averaging intervalsbetween 1 milliseconds and 1 second.

The apparatus or transceiver may be equipped with analog and digitalreception electronics. The reception electronics may amplify thereceived signal and convert it to a base signal, which may then bedemodulated and passed on to central processing electronics. Animportant design aspects of the receiver is to minimize noise anddistortion. This may be achieved by carefully selecting receptionelectronics' components (especially those of the amplifier) and byoptimizing the receiver's circuit design accordingly.

In some embodiments, the self-localizing apparatus is, or theself-localizing apparatus' antenna, analog reception electronics, anddigital reception electronics are, configured to receive twotimestampable signals within a time window of 2, 10, or 50 seconds,wherein the time difference between the time stamps of the two UWBsignals is within 0.6, 3, or 15 nanoseconds of the time differencebetween their actual reception times at the apparatus' antenna withreference to the apparatus' clock. The terms “receiver” and “receptionelectronics” used herein refer to the antenna, analog receptionelectronics, and the digital reception electronics that receive signals

In some embodiments, the apparatus' digital reception electronics arefurther operable to perform the timestamping of the received UWB signalswith reference to the apparatus' clock in less than 1 millisecond, 100microseconds, or 10 microseconds.

The apparatus or transceiver may be equipped with analog and digitaltransmission electronics.

In some embodiments, a transceiver is, or a transceiver's digitaltransmission electronics, analog transmission electronics, and antennaare, configured to transmit two timestampable signals within a timewindow of 2, 10, or 50 seconds, or configured such that the timedifference between the transmission of two timestampable signals fromthe transceiver's antenna is within 0.6, 3, or 15 nanoseconds of thetime difference between their scheduled transmission times withreference to the transceiver's clock. The terms “transmitter” and“transmission electronics” used herein refer to the antenna, analogtransmission electronics, and the digital transmission electronics thatare used to generate signals.

In some embodiments, a scheduling unit is used to schedule the signaltransmission times. It will be apparent to one skilled in the art thatany error by transceivers in adhering to this transmission schedule mayaffect the accuracy of the location computed by a localization unit.

In some embodiments, the scheduled time refers to the time at which thefirst pulse of the signal leaves the transceiver's antenna. In someembodiments, the scheduled time refers to the beginning of astart-of-frame delimiter (i.e., the point at which the transmittedsignal changes from the repeated transmission of a preamble code to thetransmission of the start-of-frame delimiter). In some embodiments, theapparatus is configured to compare two timestampable signals transmittedby the same transceiver.

In some embodiments, transceivers coordinate their transmissions at thepacket level. In some embodiments, signal overlap is avoided. In someembodiments, signals are transmitted in a round-robin fashion; atregular intervals; in a specific time sequence; or taking turns. In someembodiments, transceivers transmit signals simultaneously. In someembodiments, transceivers transmit signals that partially overlap.

In some embodiments, each of three or more transceivers includes ascheduling unit. In some embodiments, a single scheduling unit isoperationally coupled to three or more transceivers. In someembodiments, this operational coupling is a wired connection. In someembodiments, this operational coupling is a wireless connection. In someembodiments, this wireless operational coupling is implemented usingsignals such as UWB signals. In some embodiments, the scheduling unituses a lower update rate than the localization signal rate.

In some embodiments, the scheduling unit is operable to ensure a timeseparation of at least 5 microseconds, 10 microseconds, or 50microseconds between one transceiver terminating its transmission and adifferent transceiver beginning its transmission. In some embodiments,the scheduling unit is operable to monitor the localization signals. Insome embodiments, the scheduling unit is operable to compute an improvedscheduling. In some embodiments, the scheduling unit is operable toensure a time separation of at least 1 microsecond, 5 microseconds, or10 microseconds between the end of one signal and the start of a secondsignal emitted by the same transceiver. In some embodiments, thescheduling unit is operable to maintain a memory of the assignment ofmedia access control addresses and scheduled transmission times.

In some embodiments, each of the three or more transceivers comprises asensor. In some embodiments, the sensor is physically and operationallycoupled to the transceiver. In some embodiments, the sensor is operableto provide data representative of the orientation, the position, or themovement of the transceiver. In some embodiments, the sensor isstructured to detect a disturbance to the transceiver's position ororientation. In some embodiments, the sensor signal is a signal of asensor physically connected to a transmitter, wherein the sensor signalis transmitted as part of a payload of a signal, such as an UWBlocalization signal.

In some embodiments, the self-localizing apparatus comprises a sensor,physically and operationally coupled to the apparatus and operable toprovide data representative of the orientation of the apparatus. In someembodiments, the sensor is operable to provide data representative ofthe orientation, the position, or the movement of the apparatus. In someembodiments, the sensor is configured to provide data representative ofthe orientation of a self-localizing apparatus' antenna.

Data from a sensor may be processed by a localization unit or by aposition calibration unit. For example, data related to a landmark maybe compared with other data (e.g., data related to another landmark,data from memory, sensor data, data representative of a location) toimprove a position estimate or a position calibration unit. As anotherexample, a comparison of the position of a landmark relative to atransceiver detected by a first camera and the position of the samelandmark relative to a self-localizing apparatus detected by a secondcamera may allow a localization unit to improve a localization estimate.A comparison may use data related to one or more landmarks. A comparisonmay use data related to observations by one or more visual sensors.

Typical examples of sensors that may be usefully employed as part of thepresent disclosure include an optical sensor, an accelerometer, amagnetometer, and a gyroscope.

In some embodiments, micro-electro-mechanical systems (MEMS) orpiezoelectric systems may be used to allow achieving operatingcharacteristics outlined in the present disclosure. Examples of suchmicro-sensors that can be usefully employed with the present disclosureinclude MEMS gyroscopes, MEMS accelerometers, piezoelectric gyroscopes,and piezoelectric accelerometers. In some embodiments, the use ofmicro-sensors allows using one or more inertial measurement units(IMUs), which may each combine multiple gyroscopes or accelerometers oruse multiple-axis gyroscopes or accelerometers, in each subsystem. Insome embodiments, such selection of micro-sensors allows creating orusing a self-localizing apparatus suitable for highly dynamic movementthat require low weight and low power consumption in spite of highperformance. For example, a 3-axis MEMS gyroscope may be used to monitora self-localizing apparatus' attitude and to allow triggering a signalif an attitude threshold is exceeded. As another example, a MEMSgyroscope may be used to control a small flying robot equipped with aself-localizing apparatus around hover in spite of its low timeconstant. Examples of optical sensors include infrared sensors, linearcameras, optic flow sensors, and imaging sensors, among others.

Some embodiments comprise a global property sensor, i.e., a sensoroperable to provide data representative of a global property.

Examples of global properties include fields that have a determinablevalue at multiple or every point in a region, such as a gravitationalforce, an electromagnetic force, a fluid pressure, and a gas pressure.Further examples of global properties include an RF signal strength, aGPS signal, the Earth's magnetic field, the Earth's gravitational field,the atmosphere's pressure, landmarks, and radio time signals (e.g.,those sent by DCF77 time code transmitters). Examples of landmarksinclude the horizon, the sun, moon or stars, mountains, buildings, andprominent environmental features. Prominent environmental features mayinclude distinctive natural features such as mountains, distinctivebuildings such as monuments, and others such as those used insimultaneous localization and mapping (SLAM). Further examples forlandmarks include those used in Scale-Invariant Feature Transform (SIFT)and Speeded Up Robust Features (SURF). Note that in the presentdisclosure, GPS or GNSS may be used as a placeholder to describe anysimilar signals by other global navigation satellite systems such ase.g., GLONASS, Galileo, IRNSS, or BeiDou-2 as well as their improvedversions such as real-time kinematic (RTK) GPS or DGPS.

In some embodiments, an apparatus and a transceiver are both configuredto detect the same global property. In some embodiments, a transceiveris configured to communicate data representative of the global propertyat its location to an apparatus or to another transceiver, and theapparatus or the another transceiver is configured to compare the datawith data representative of the same global property at the apparatus'or the another transceiver's location. In some embodiments, the globalproperty can be associated with a global property model.

In some embodiments, the global property sensor is an orientationsensor. The orientation sensor may enable the transceiver to measure itsorientation relative to a frame of reference common to the transceiversand the self-localizing apparatus. The transceiver may then transmitsignals representative of its orientation included as data (payload)within the localization signals. In some embodiments, a transceiver iscapable of measuring its orientation and of transmitting thisorientation as a payload of a localization signal.

In some embodiments, a position calibration unit may compute an estimatefor the position of a transceiver. In some embodiments, the transceiverposition is computed once (e.g., as part of a calibration routine duringthe localization system's setup). In some embodiments, the transceiverposition is computed continuously (e.g., each time new data related tothe transceiver's position becomes available). In some embodiments, thetransceiver position unit is initialized with known, partially known,estimated, or partially estimated position information (e.g., initialtransceiver distances, positions, or orientations may be measured orentered manually).

Position calibration may be achieved in various ways. For example, theposition calibration unit may compute a transceiver's position based ontime stamped signals received from other transceivers with knownlocations. This may, for example, allow for the addition of anadditional transceiver to an existing network of transceivers. In someembodiments, a position calibration unit operates analogously to alocalization unit or vice versa. In some embodiments, a positioncalibration unit is operationally coupled to a compensation unit.

In some embodiments, a single position calibration unit may be used tocompute the location of multiple transceivers relative to each other.This may, for example, allow initialization of a network of transceiversthat do not yet have known locations. In some embodiments, multipleposition calibration units are used (e.g., one for each transceiver).

In some embodiments, a position calibration unit is implemented offboarda transceiver. For example, the position calibration unit may beimplemented on a laptop computer connected to the transceiver using acable. This may, for example, allow for a more convenient interface foran operator.

In some embodiments, the synchronization unit is operable to synchronizeat least one of (i) an offset of the first clock, and (ii) a rate of afirst clock, based on a second clock. In some embodiments, thecorrection is computed or the synchronization is performed based on atleast one of an average, a median, and a statistical property of amultitude of the localization system's clocks. In some embodiments,global properties that also provide timing information, such as thoseprovided by GPS, DCF77, and further systems, are used. In someembodiments, the synchronization unit uses global properties that alsoprovide timing information.

In some embodiments, the synchronization unit is operable to implicitlyor explicitly account for timing errors introduced by at least one of(i) a first difference between the rate of the apparatus' clock and therate of a first communicating transceiver's clock and (ii) a seconddifference between the rate of the apparatus' clock and the rate of asecond, different communicating transceiver's clock.

In some embodiments, the synchronization unit is operable to perform thesynchronization or to compute the clock correction based on acompensation computed by a compensation unit or data stored in a memory.

In some embodiments, the synchronization unit is operable to synchronizethe onboard clock's rate such that the statistical mean error betweenthe onboard clock's rate and the median of the two other transceivers'onboard clock rates is less 10 parts per million or 1 part per millionor 100 parts per billion. In some embodiments, the synchronization unitis operable to synchronize the onboard clock's offset such that thestatistical mean error between the onboard clock's offset and the medianof the two other transceivers' onboard clock offsets is less than 10nanoseconds or 5 nanoseconds or 1 nanosecond or 10 picoseconds. In someembodiments, this is achieved by implicitly or explicitly accounting fortiming errors introduced by one or more of the transceiver's antenna,and the transceiver's analog and digital transmission electronics, or bycomputing clock corrections to the onboard clock's offset based on thetimestamped UWB clock synchronization signal and data provided by thetransceiver's memory unit, or by altering a clock rate (e.g., butaltering a voltage, a temperature, or a crystal trim of a clock).

In some embodiments, a compensation unit is used to correct for signaldelays. The compensation unit computes compensations for effects on thetimestampable signal from the moment of scheduling the transmission timeof the signal at the transceiver to the moment of timestamping thesignal at the transceiver's or apparatus' reception electronics.

Compensation is typically achieved by correcting the reception timestamp or by correcting transmission time information (e.g., atransmission time stamp included in the UWB data as payload), e.g. basedon signal quality or group delay. This correction may be computed andapplied immediately (e.g., by computing corrections for or modifyingindividual timestamps) or in batch (e.g., by computing corrections foror modifying timestamps in batch). The compensation may use several datasources to determine the required correction; examples include (i) datarepresentative of the location and orientation of the transceivers andthe apparatus; (ii) data provided by onboard sensors; (iii) data storedin a memory; (iv) data provided by the synchronization unit; and (v)quality metrics provided by the digital reception electronics.

In some embodiments, the compensation unit compensates for effects ofposition, orientation, or movement of the apparatus' antenna relative toa transceiver's antenna. In some embodiments, the compensation unitcompensates for effects of obstacles. In some embodiments, thecompensation is performed by computing (i) data representative of acorrection for a distance, time, or duration, (ii) data representativeof a correction for a comparison of a first and a second distance, time,or duration, or (iii) data representative of a correction for acomparison of a multitude of distances, times, or durations. In someembodiments, the data representative of a correction is provided to thelocalization unit.

In some embodiments, the compensation unit may also account for theimpact of the relative orientation, direction and distance of theapparatus' antenna relative to the transceiver's antenna. This isimportant due to the difficulty in creating omnidirectional antennae fortimestampable signals such as UWB signals. This is also importantbecause some apparatuses may be receiving signals from a larger numberof transceivers, receiving signals at a higher update rate, or receivingsignals with a higher quality than others, depending on their locationin space relative to the transceivers, or on the communicationarchitecture used. Corresponding data related to the computation ofcompensation values may be determined as part of a calibration routineor during use (e.g., provided by an operator), and improved usingassumptions (e.g., radial symmetries) or using data from other systemcomponents as outlined above. They may then be stored in a memory foruse, e.g. as a look-up table of compensation values for differentpairwise combinations of relative antenna orientations, directions, anddistances.

Strategies similar to those outlined above for the compensation unit andtimestampable signals may also be used by the synchronization unit orfor clock synchronization signals.

It will be understood that while compensation and various aspectsthereof are sometimes explained for signals travelling between anapparatus and a transceiver, explanations may be equally valid, andanalogously used, for signals travelling between two apparatuses or twotransceivers.

A control unit is used to generate control signals for actuators basedon data received from a localization unit (e.g., a position estimate) orof sensors (e.g., an onboard sensor) or of a global property (e.g., anatmospheric pressure).

The control unit can implement control laws that are well-established inthe prior art or widely used. Examples of such control laws include PIDcontrol; model predictive control; sliding mode control; full statefeedback; and backstepping control. Depending on the control law, thecontrol unit may use state estimates provided by a localization unit.

A control unit may compute control signals for a single actuator. Insome embodiments, a control unit computes different sets of controlsignals for different sets of actuators. For example, a control unit maycompute a first set of control signals for two actuators of a firstmodule or axis of a robot and a second set of control signals for asecond module or axis of a robot.

Actuators may belong to the group of electric, magnetic, and mechanicalmotors moving or controlling a mechanism or system. Examples include apiezoelectric actuator, a brushless electric motor, and a servo motor.

In some embodiments, the apparatus' actuator is configured to move theapparatus in its three translational degrees of freedom. In someembodiments, the actuator is configured to move the apparatus in itsthree rotational degrees of freedom. In some embodiments, the actuatoris configured to move a part of the apparatus, such as the antenna. Insome embodiments, multiple actuators are used in conjunction.

In some embodiments, the apparatus' actuator is configured to move theapparatus' position by at least 30 cm. In some embodiments, theapparatus' actuator is configured to move the apparatus' position by atleast 100 cm. In some embodiments, the apparatus' actuator is configuredto move the apparatus' rotation by at least 30 degrees. In someembodiments, the apparatus' actuator is configured to move theapparatus' rotation by at least 90 degrees.

FIG. 1 is a block diagram of an illustrative localization system 100(sometimes referred to herein as a “network”) that includes componentsinvolved in the generation and execution of a schedule for transmittinglocalization signals in accordance with some embodiments of the presentdisclosure. System 100 comprises scheduler 110, scheduling unitcontroller 120, and transceivers 130 (also referred to herein as an“anchor”).

Scheduler 110 uses one or more input parameters to determine theschedule. As illustrated, the input parameters may comprise one or moreuser requirements, anchor locations, and anchor properties. The userrequirements may include desired positioning performance. For example, auser may specify a minimum positioning performance within a localizationregion. As another example, a user may specify different positioningperformance within the localization region. In some embodiments, thepositioning performance may be input via a two-or three-dimensional map,where zones within the localization region are marked with the desiredpositioning performance. The anchor locations may be input according toa known coordinate system. In some embodiments, a user may input theanchor locations. In some embodiments, the localization system 100 maybe configured to determine the locations of the anchors using thelocalization signals. The anchor properties may include the connectivityof the anchors to each other and other anchor properties such as theavailable configurations (e.g., whether an anchor can receive andtransmit at the same time), the frequencies to which the anchor can beset, antenna radiation pattern, any other suitable anchor properties,and any combination thereof.

Scheduler 110 may include one or more inputs such as a user input or acommunication input for receiving the input parameters. The user inputmay include, for example, a keyboard, a mouse, a touch screen, buttons,switches, a touch pad, or any other suitable user input device. Thecommunication input may include, for example, a wired interface (e.g.,using USB, RS-232, Ethernet, or other standards) or a wireless interface(e.g., using Wi-Fi, IR, WiMAX, wireless BLUETOOTH, or other standards).Scheduler 110 may also include a processor and memory. The processor maybe adapted to execute computer program instructions stored in thememory, which may include an operating system and one or moreapplications, as part of performing the functions described herein. Forexample, the processor may be configured to receive the one or moreinput parameters, process the one or more inputs, and determine anappropriate schedule as explained in more detail below. Scheduler 110may also include an output for outputting the schedule to the anchors,such as transceivers 130. In some embodiments, the schedule is firstoutputted to scheduling unit controller 120. The output may, forexample, include a wired interface or a wireless interface. In someembodiments, the output may be the same as the communication input. Insome embodiments, scheduler 110 may be implemented as a personalcomputer.

Scheduling unit controller 120 facilitates the transmission of theschedule to the anchors. In some embodiments, scheduling unit controller120 may be in communication with one or more anchors such astransceivers 130. In some embodiments, scheduling unit controller 120may process the schedule received from scheduler 110. For example,scheduling unit controller 120 may prepare the schedule for transmissionto the anchors. In one embodiment, the processing comprises translatingthe schedule and preparing it for transmission to the anchors. This mayinvolve parsing a schedule file format (e.g., a XML or YAML file),converting the data in the file into a scheduling unit-specific format,adding information such as a unique schedule ID, serializing the data,and adding data protection information such as a CRC. Scheduling unitcontroller 120 may transmit the schedule (e.g., in its translatedformat) to the anchors such as transceivers 130. In some embodiments,the transmission is performed using the same type of wireless signalsthat are normally used for localization purposes. In this case,scheduling unit controller 120 comprises digital transmissionelectronics, analog transmission electronics, and an antenna. Thesecomponents are described in more detail below. In some embodiments, thetransmission is performed through a wired interface or a separatewireless transmission channel that is available to both scheduling unitcontroller 120 and the anchors.

Scheduling unit controller 120 is shown as a separate component inlocalization system 100. However, it will be understood that this ismerely illustrative. In some embodiments, scheduling unit controller 120or the functionality of scheduling unit controller 120 may be integratedinto other components. For example, scheduling unit controller 120 maybe integrated into scheduler 110. As another example, scheduling unitcontroller 120 may be integrated into one or more anchors such astransceivers 130.

As mentioned above, localization system 100 may include transceivers130. Transceivers 130 are configured to receive a schedule fromscheduling unit controller 120. Each transceiver 130 may receive theschedule directly from scheduling unit controller 120 or indirectlythrough one or more other transceivers. The received schedule may bestored in a memory within each transceiver, from where it may beaccessed by a scheduling unit of each transceiver. The details oftransceivers 130 are described below.

In some embodiments, transceivers 130 are capable of switching betweendifferent schedules. This may be achieved by including severalscheduling units within each transceiver, or by using a singlescheduling unit which is configured to receive a signal that will causethe scheduling unit to switch to a different schedule. Several schedulesmay be received from scheduling unit controller 120, including forexample, unique identifiers that allow a scheduling unit to determinewhich schedule to use depending on a received signal. In someembodiments, the received signal could cause the scheduling unit tointerrupt the current schedule, to restart the current schedule, or tojump to a specific point in the schedule. In some embodiments, the firstpart of a long schedule may be designed to facilitate the clocksynchronization between the network transceivers while the second partmay be designed to optimize the localization performance. The schedulingunit controller may send a signal to restart the execution of theschedule when the network synchronization error increases above acertain threshold. In some other embodiments, the execution of theschedule may have to be restarted from the beginning or from a certainpoint in time every time a self-localizing apparatus enters the regionof space covered by the network of transceivers. In some embodiments,the point in time from which the execution of the schedule is restartedmay depend on the position from which the self-localizing apparatusenters the region of space. In some embodiments, a default schedule(e.g., one based on the ALOHA protocol) may be permanently stored in amemory of a transceiver, and an additional schedule can be transmittedby scheduling unit controller 120. A transceiver could then operate in adefault mode (based on the default schedule) or an improved-performancemode (e.g., based on an optimized schedule received from scheduling unitcontroller 120).

FIG. 2 is a block diagram of three illustrative transceivers 130 and twoself-localizing apparatuses 140 of an illustrative localization system100 in accordance with some embodiments of the present disclosure. Insome embodiments, localization system 100 of FIG. 2 is the same aslocalization system 100 of FIG. 1. In some embodiments, localizationsystem 100 of FIG. 2 is a different localization system than thatdepicted in FIG. 1. Each of the three transceivers 130 transmitstimestampable localization signals 202. In some embodiments, the threestationary transceivers 130 have known relative locations to each other.In some embodiments, the three transceivers 130 have synchronized clocks210. Transceivers are sometimes referred to herein as “anchors” or“beacons”. It will be understood that while three transceivers and twoself-localizing apparatuses are illustrated in FIG. 2, any suitablenumbers of transceivers and self-localizing apparatuses may be used inlocalization system 100.

Each transceiver 130 in FIG. 2 comprises analog electronic components214 and digital electronic components 216. An antenna 212 is coupled toanalog transmission electronics 214. Analog transmission electronics 214may generate an analog transmission signal from at least one digitaldata packet. Digital data packets are provided by digital transmissionelectronics 216. The analog transmission signal can be generated usingan analog pulse generator. The analog transmission signal may also beamplified by an amplifier before being passed to antenna 212 fortransmission.

In FIG. 2, transmission electronics 214, 216 are used to convert payloaddata (sometimes called “payload”) into signals 202 that may then betransmitted by transmitters 130. In some embodiments, signal 202 is anUWB signal. A single UWB signal 202 transmitted by a single transceiver130 can be received by a plurality of apparatuses 140. Each apparatusmay use information gained from multiple signals 202 to compute itslocation without emitting signals of its own.

Clock 210 is coupled to transmission electronics 214, 216 and providestiming information for transmitting signals 202. Clock 210 may includean onboard clock or may have a wireless or wired connection (not shown)that receives time information from an offboard clock (not shown), e.g.,at a remote location.

Transmissions (e.g., signals 202) from three transceivers 130 may becoordinated using a scheduling unit 218, which is operable to schedulethe transmission of signals 202. In some embodiments, scheduling unit218 may provide sufficient time separation between the localizationsignals to prevent transceiver messages from arriving at a receiver'santenna without adequate time separation, which can result in degradedsignal detection and hence reduced performance of localization system100. In some embodiments, scheduling unit 218 may implement an ALOHAprotocol to reduce or prevent the effect of insufficient timeseparation. In some embodiments, signal transmission may follow apre-programmed schedule, or scheduling may be performed centrally and aschedule communicated to each transceiver as described, for example, inFIG. 1. In some embodiments, scheduling may be performed by eachtransceiver. For example, the scheduling for a transceiver may be basedon information stored by the transceiver about the other transceivers(e.g., an ordered list or a transmission schedule of the othertransceivers in range). In some embodiments, the scheduling unit mayfurthermore provide configuration signals to the transmissionelectronics. These configuration signals can be interpreted by thetransmission electronics to adjust certain settings of the transmitter,for example, the center frequency, the signal bandwidth, the preamblecode, the preamble length, transmission power, or antenna.

Analog transmission electronics 214 are coupled to digital transmissionelectronics 216 and together they allow the transmission of UWB signals202. Such transmissions may be performed such that the transmission ofsignal 202 from antenna 212 occurs accurately at a specifiedtransmission time relative to clock 210. This can be achieved usingdigital transmission electronics 216. Digital transmission electronics216 may coordinate its operation with scheduling unit 218. Thetransmission of a signal at a specified time is preferably performedsuch that a specific symbol is emitted from the antenna 212 at thespecified time. For transmissions that follow the IEEE 802.15.4standard, a common choice for the symbol to be transmitted at that timeis the beginning of the start-of-frame delimiter, i.e., the point atwhich the transmitted signal changes from the repeated transmission ofthe preamble code to the transmission of the start-of-frame delimiter.Digital transmission electronics 216 may use the signal provided byclock 210 as a reference in this transmission at the specified time; thetransmission time can therefore be expressed relative to this clock.

The two self-localizing apparatuses 140 shown in FIG. 2 are eachconfigured to receive the UWB radio signals 202 transmitted bytransceivers 130.

FIG. 3 is a detailed block diagram of illustrative transceivers 130 inaccordance with some embodiments of the present disclosure. In someembodiments, transceivers 130 of FIG. 3 are used in localization system100 of FIG. 1 or localization system 100 of FIG. 2. In some embodiments,transceivers 130 of FIG. 3 are used with a different localization systemthan that depicted in FIGS. 1 and 2.

Transceivers 130 of FIG. 3 may each include an antenna 212 that iscoupled to both analog transmission electronics 214 and analog receptionelectronics 220. In some embodiments, a TX/RX-switch is used to connectthe antenna to one or the other of electronics 214, 220. Analogreception electronics 220 is coupled to digital reception electronics222 and together they allow the reception of signals 302 transmitted byother transceivers 130. Analog and digital reception electronics 220,222 may have similar capabilities to the ones on self-localizingapparatus 130 of FIG. 2. For example, analog and digital receptionelectronics 220, 222 may convert signals 302 into data (the payload),accurately determine the time at which the transmitted signal reachedantenna 212, and may provide additional quality metrics related toreceived signal 302 such as signal strength, reception time standarddeviation, and metrics for determining whether the signal travelled inline of sight or not, among others.

Digital reception electronics 222 are operationally coupled to asynchronization unit 224, which may be used to identify and compensatefor a clock 210 of any one transceiver not running in perfect synchronywith the clocks of the other transceivers. Upon reception of an UWBradio signal, the received data, timestamp, and quality metrics are sentto synchronization unit 224. Synchronization unit 224 may compare thereception time stamp to previous reception time stamps, to transmissiontime information included in the data (payload) of the signal, and totransmission time information included in previous signals 202. Fromthis information, synchronization unit 224 may compute the currentbehavior of clock 210 such as, for example, its current clock rate, orthe current rate of change of the clock rate. In addition,synchronization unit 224 may determine the time-of-flight of signalsbetween stationary transceivers by evaluating the discrepancy betweenlocally measured reception timestamps, locally set transmission times,measured reception timestamps reported from other transceivers, and settransmission times of other transceivers. Through careful correction forerrors such as differing clock offsets, clock rates, and signalpropagation times, synchronization unit 224 may compute a correction toallow the transceivers to obtain a common, synchronized reference time.In some embodiments, synchronization uses signals 302 received fromother transceivers 130. Time synchronization between the transceivers isbeneficial, for example, because any offset in transceiver timing maytranslate into errors in the localization of the self-localizingapparatus.

Transceiver 130 of FIG. 3 may also include a sensor 226 and a globalproperty sensor 228. Both of these sensors are coupled to digitaltransmission electronics 216. This enables signals representative of themeasurements taken by sensor 226 and global property sensor 228 to beincluded in the data that is transmitted by digital transmissionelectronics 216, analog transmission electronics 214, and antenna 212 inthe form of localization signals 202.

In some embodiments, a sensor 226 or a global property sensor 228 may beused to sense a transceiver's orientation. With knowledge of thetransceiver's orientation, a self-localizing apparatus (e.g.,self-localizing apparatus 140 of FIG. 2) that receives a localizationsignal from that transceiver may be able to compensate for signal delaysintroduced by the relative orientation of the transceiver's antenna 212to the self-localizing apparatus' antenna. This may, for example, beachieved by communicating the transceiver's detected orientation as partof its transmitted localization signal.

Each transceiver 130 may be equipped with memory 230, which may be usedto store data such as configuration data, desired signal amplification,synchronization data (e.g., offsets or rate corrections for clocks), orrange accuracy calibration data. Memory 230 may also be used to bufferdata after reception and before transmission. In some embodiments,memory 230 can be rewritten multiple times or is non-volatile memory. Insome embodiments, memory 230 is used to store one or more transmissionschedules.

FIG. 3 shows illustrative transceivers that can receive and processwireless signals from other transceivers (sometimes referred to hereinas “wireless transceivers” or “wireless UWB transceivers”). This isenabled by transceivers 130 having analog reception electronics 220 anddigital reception electronics 222, which are operable to receive signalstransmitted by other transceivers 130.

A first transceiver 130 may use one or more signals 302 from a secondtransceiver 130 or from a plurality of other transceivers 130 to adjustits transmission schedule to, e.g., provide better time separationbetween transmissions. This may, e.g., be achieved by scheduling unit218 storing in a memory 230 the times at which signals 302 were receivedfrom other transceivers 130 in the network (e.g., network 100 of FIG.2), and subsequently adjusting the local transmission schedule based onthese times. In some embodiments, better time separation betweentransmissions results in reduced interference between localizationsignals 202 and signals 302. In some embodiments, measurement of thetime separation between localization signals 202 may be a metric usedfor assessing or when improving the performance of a localizationnetwork.

In some embodiments, signals 302 may be used by a transceiver 130 toindicate the occurrence of an event. In some embodiments, signals 302may be used by a transceiver 130 to trigger an action by othertransceivers 130. In some embodiments, the action results in thescheduling of localization signals 202 or in a change of a transmissionschedule. In some embodiments, dynamic transmission scheduling may beused to react to the addition or removal of transceivers from thesystem. In some embodiments, the reaction of the localization network(e.g., network 100 of FIG. 2) to the addition or removal (e.g., due to afault) of transceivers may be used as a metric to assess the robustnessof the network.

In some embodiments, signals 302 may be the same type of signals used byself-localizing apparatuses (e.g., signals 202). In some embodiments,signals 302 may be in some way different from signals 202. For example,signals 302 may have a different payload. In some embodiments, signals302 may be transmitted at different times than signals 202. For example,signals 302 may be transmitted during installation or during acalibration phase of a localization system, and signals 202 may beemitted when the system is in operation. Signals 302 and 202 may alsodiffer in further ways (e.g., their signal strength, preamble, etc.). Insome embodiments, the use of signals 202 and signals 302 may differ. Forexample, transceivers may emit signals 202 at a different update ratefrom that used with signals 302, or the signal emission may follow adifferent schedule.

FIG. 4 is a block diagram of an illustrative transceiver comprising apair of first and second transceivers 130 a, 103 b in accordance withsome embodiments of the present disclosure. Transceivers 130 a, 130 bare physically coupled together using a structural element 400. Eachtransceiver 130 a, 130 b comprises an antenna 212 a, 212 b, analogtransmission electronics 214 a, 214 b, digital transmission electronics216 a, 216 b, and a clock interface 402 a, 402 b. First transceiver 130a may also comprise a global property sensor 228, which may beoperationally coupled to the digital transmission electronics 216 a.

For many applications, transceivers will have fewer constraints (e.g.,weight constraints, size constraints, power constraints) thanself-localizing apparatuses, because transceivers do not have to bemobile. It may therefore be preferable to shift complexity away fromself-localizing apparatuses towards transceivers. The embodiment shownin FIG. 4 has several technical advantages. First, the pair oftransceivers shown in FIG. 4 may be implemented as redundant receiversto provide an additional safeguard against failure. Depending on the usecase, redundancy can be achieved for some or all of the transceiver'scomponents. Second, transceivers 130 a, 130 b may be configured asillustrated to use different antennas 212 a, 212 b to provide additionalfunctionality. Antennas 212 a, 212 b may, for example, differ in theirorientation, in their antenna polarization, or in their gains, amongother factors. This may result in technical advantages for a receiver,including an improved signal-to-noise ratio or less variation in signalreception across different receiver antenna orientations. In someembodiments, transceivers 130 of FIGS. 1-3 may use multiple antennas212, e.g., connected with an RF switch.

Using a pair of transceivers as shown in FIG. 4 may have additionaladvantages when used with similarly paired self-localizing apparatus(e.g., as shown in FIG. 7). In some embodiments, transceivers 130 a and130 b may use different localization signals. For example, transceiver130 a may use a first frequency band while transceiver 130 b may use asecond, different frequency band. The simultaneous use of two differentlocalization signals may allow higher update rates. It may provideimproved resistance to interference. It may also allow disambiguation ofsignal-dependent effects from true differences in distance. For example,because a signal's speed depends on the refractive index of an obstacleand on the signal's wavelength, the use of two different signals withtwo different wavelengths may allow the delay introduced by the obstacleto be inferred.

Paired embodiments may also be used to detect a failure. This may, forexample, be achieved by receiving a first signal from a firsttransceiver; receiving a second signal from a second transceiver that isphysically attached to the first transceiver; comparing data related tothe first signal with data related to the second signal while accountingfor a difference in the two signals; and comparing the result to athreshold. Examples of the compared data include the reception of asignal; the accuracy of a signal's arrival; and the peak power of asignal. Examples for the difference in the two signals include arelative antenna position; a time delay between emission of the firstand second signal; and a signal preamble.

In some embodiments, a failure is detected using a failure detectionunit (not shown). In some embodiments, a failure detection unit isonboard the self-localizing apparatus. In some embodiments, a failuredetection unit is offboard the self-localizing apparatus. In someembodiments, a single failure detection unit is used.

In some embodiments, paired antennas may be used to implement amulti-antenna setup.

The transceiver shown in FIG. 4 further comprises digital receptionelectronics 222 a, 222 b and analog reception electronics 220 a, 220 b.This allows each of transceivers 130 a, 130 b to exchange signals 302wirelessly. In some embodiments, transceivers 130 a, 130 b do notinclude some or all of electronics 222 a, 222 b, 220 a, 220 b.

In some embodiments, the transceivers of the present disclosure may beused with a multi-antenna setup. A multi-antenna setup comprises atleast two resonant elements (sometimes called “antennas”) with knowndiversity (e.g., spatial diversity, time diversity, polarizationdiversity, pattern diversity, etc.).

A multi-antenna setup's resonant elements may differ in one or more oftheir characteristics (e.g., polarity, frequency response, sensitivity,orientation, etc.). For example, antennas may be separated by a knowndistance. As another example, antennas may be oriented orthogonally withrespect to each other. The resonant elements of a multi-antenna setupmay be used and combined in various ways using well-known radiofrequency techniques (e.g., diplexers, power dividers, etc.). Amulti-antenna setup may comprise dedicated electronics for an individualresonant element.

In some embodiments, a transceiver's antennas 212 a, 212 b may be usedto implement a multi antenna setup. A multi antenna setup may comprisesome separate electronics 214 a, 214 b, 216 a, 216 b, 220 a, 220 b, 222a, or 222 b for an individual resonant element. For example, amulti-antenna setup may comprise separate reception electronics for anantenna.

In some embodiments, a transceiver is equipped with multiple antennas.In some embodiments, a transceiver's multiple antennas are used toimplement a multi-antenna setup. In some embodiments, a self-localizingapparatus is equipped with multiple antennas. In some embodiments, aself-localizing apparatus' multiple antennas are used to implement amulti-antenna setup. In some embodiments, a transceiver and aself-localizing apparatus each have a multi-antenna setup.

In some embodiments, identical antennas are used for transmission andreception. In some embodiments, different antennas are used fortransmission and reception. For example, transmitters may use adirectional antenna while self-localizing apparatuses useomnidirectional antennas, or vice-versa. Various types of antennas maybe used and combined to achieve the desired behavior for a given usecase. For example, antennas using multiple resonant elements, Multi-BeamAdaptive Antennas, or Multiple-Input Multiple-Output Antennas (MIMO) maybe used. In some embodiments, an antenna supporting multiple frequencybands may be used. In some embodiments, a multi-antenna setup's antennasmay be isolated from each other.

In some embodiments, a multi-antenna setup may improve the localizationperformance of a localization unit or of a position calibration unit. Insome embodiments, this may be achieved by improving reception (e.g.,signal to noise, etc.). In some embodiments, the antenna and thereception electronics are configured to detect a signal strength. Insome embodiments, signal strength is used to provide a relativeindication of the distance to the transmitter.

In some embodiments, a directional antenna is used. In some embodiments,the antenna is configured to detect a signal bearing that may indicatethe direction of source of the signal. In some embodiments, the antennaand the reception electronics are configured to allow detection of asignal's amplitude or phase. In some embodiments, knowledge of anemitted signal's amplitude or phase and a signal's detected amplitude orphase are used to provide a relative indication of the orientation ordistance to the transmitter.

In some embodiments, a multi-antenna setup may allow a self-localizingapparatus' attitude to be determined. For example, in some embodiments amulti-antenna setup may be used to detect the direction of polarizationof a signal. Knowledge of a signal's emitted polarization and a signal'sdetected polarization may provide a relative indication of theorientation of emitter (e.g., a transceiver) and receiver (e.g., anothertransceiver or a self-localizing apparatus).

In some embodiments, a multi-antenna setup's antennas may operate ondifferent frequencies. For example, a multi-antenna setup may be used ina redundant transceiver network that is operating on two separatefrequencies. As a further example, a multi-antenna setup may be used ona self-localizing apparatus used in a redundant transceiver network thatis operating on two separate frequencies.

In some embodiments, the antenna, analog reception electronics, anddigital reception electronics are configured to measure a Doppler shiftof the signal. This may, for example, allow a localization unit toimprove its localization estimate by providing data related to aself-localizing apparatus' movement relative to the known location of atransceiver.

In some embodiments, the advantages of a transceiver's multi-antennasetup and a self-localizing apparatus' multi-antenna setup may becombined. This may, for example, be achieved by combining knowledge of atransceiver's multi-antenna setup's properties (e.g., the transceiver'sposition), knowledge of the emitted signal's properties (e.g., thesignal strength, the signal polarization), and knowledge of theself-localizing apparatus' multi-antenna setups' properties (e.g., itsantenna array's resonant element's relative alignment and its receptioncharacteristics) in a localization unit.

In some embodiments, a localization unit is used to fuse data from oneor more of the following: a multi-antenna setup; a sensor; a globalproperty sensor; a first and a second global property sensor; and aknown location.

Multi-antenna setups may have technical advantages. In some embodiments,a multi-antenna setup may allow reception to be optimized, asignal-to-noise ratio to be improved, or a data rate to be increased.This may, for example, be achieved by allowing better reception over arange of receiver positions or orientations. As another example, amulti-antenna setup may be used to implement spatial multiplexing in aMIMO system to increasing data rate.

In some embodiments, the system components' influence on localizationsignals is known. For example, the transceiver's RF components may havewell known transmission properties. As a further example, theself-localizing apparatus' electronics and structural components have awell-known RF response. In some embodiments, known RF effects arecompensated for by a compensation unit. In some embodiments, antennasmay use shielding.

It will be understood that while transceivers 130 of FIGS. 2-4 have beendescribed in different embodiments as having wireless transmission andwireless reception capabilities, the wireless reception capability isoptional. For example, in some embodiments, transceivers 130 do notinclude the wireless reception components. In some embodiments,transceivers 130 are configured to exchange synchronization informationand other information with other transceivers 130, scheduling unitcontroller 120, or scheduler 110 using wired connections. As mentionedabove, the transceivers are also referred to as anchors. Accordingly, itwill also be understood that anchors as used herein can include bothwireless transmission components and wireless reception components oronly wireless transmission components.

FIG. 5 is a block diagram of an illustrative self-localizing apparatus140 in accordance with some embodiments of the present disclosure.Self-localizing apparatus 140 comprises an antenna 502 for receivinglocalization signals 202. Antenna 502 is operationally coupled to analogreception electronics 504, which may amplify the signal. Digitalreception electronics 506 may then be used to timestamp the signal inreference to clock 508. A synchronization unit 510 may compare an inputfrom clock 508 to inputs from other clocks (e.g., received as part of asynchronization signal or message from another part of the localizationsystem and received by the digital reception electronics 506).Synchronization unit 510 may use this information to compute a clockcorrection for a clock rate or a clock offset, which it may communicateto localization unit 512 or compensation unit 516, or store in a memory518. Additionally, information from compensation unit 516 may be used.

Self-localizing apparatus 140 of FIG. 5 may be used, for example, withlocalization system 100 of FIG. 2. In this embodiment, self-localizingapparatus 140 of FIG. 5 receives timestampable localization signals 202transmitted by transceivers 130 of FIG. 2 through its antenna 502,analog reception electronics 504, and digital reception electronics 506.Self-localizing apparatus 140 may use signals 202 to compute itslocation relative to transceivers 130. In some embodiments, this isachieved by timestamping signals 202, converting the timestamps todistances, and using these distances to compute the relative location.This conversion can use an estimation of the speed of the signals 202 inthe transmission medium (e.g., the speed of light in air). Thisconversion may be accomplished using localization unit 512. Localizationunit 512 may compute the self-localizing apparatus' location relative tothe known locations of transceivers 130 by trilateration ormultilateration. Sufficiently accurate timestamping may be provided bydigital reception electronics 506 and clock 508.

Reception electronics 504, 506 may accurately determine the receptiontimes at which the transmitted signals reach antenna 502. Determining asignal's reception time (“timestamping”) may be carried out bydetermining the time at which a symbol is detected. For transmissionsthat follow the IEEE 802.15.4 standard, a common choice for the symbolto be timestamped is the beginning of the start-of-frame delimiter(i.e., the point at which the transmitted signal changes from therepeated transmission of a preamble code to the transmission of thestart-of-frame delimiter). Digital reception electronics 506 uses asignal provided by the apparatus' clock 508 as a reference in thistimestamping process. The timestamp may be therefore expressed relativeto this clock. In some embodiments, clock 508 comprises an onboardclock. Reception electronics 504, 506 may also provide additionalmetrics related to received signals 202.

Quality metrics may, for example, include signal strength, receptiontime standard deviation, or noise properties of the signal. Qualitymetrics may be computed based on absolute values (e.g., an absolutesignal strength) or based on relative values (e.g., a difference ofsignal strengths). Quality metrics may also be computed by comparingsignals. For example, quality metrics may be computed based oncomparisons of a signal over time, on comparisons between signals fromdifferent transceivers, on comparisons of signals received fromdifferent directions, on comparisons of signals with thresholds, oncomparisons of signals with their expected property, and others.Comparisons may use individual signal properties (e.g., the peak power)or entire signals (e.g., the signal's spectral shapes). Quality metricsmay, for example, be used to determine whether a signal 202 travelled inline of sight, or what material it may have traversed, or how it mayhave been reflected.

Self-localizing apparatus 140 of FIG. 5 (and FIG. 2) may furthercomprise a global property sensor 520. Global properties may allow amore accurate computation of the relative location of a self-localizingapparatus 140 by providing additional reference data with respect to areference point (e.g., a transceiver or a coordinate system). This canbe achieved by equipping at least one transceiver 130 and aself-localizing apparatus 140 to detect the global property. Thelocalization system's accuracy may be improved by a method comprisingthe steps of: (i) transmitting a transceiver's global property readingto an apparatus, by (ii) comparing the transceiver's reading of theglobal property at its location and the apparatus' reading of the globalproperty at its location, by (iii) using a model of the global property(“global property model”) to translate the comparison into data relatedto an orientation, position, or movement, and (iv) appropriately fusingthat data with other sensor data by using an estimator. Steps (ii) and(iii) may be accomplished using a localization unit 512, such as the oneshown as part of self-localizing apparatus 140 of FIG. 5. Globalproperty models allow conversion of one or more readings of the globalproperty into data that can be processed by the localization system(e.g., the equation describing atmospheric pressure as a function ofaltitude/height). Models can take various forms, such as functions orlook-up tables.

The use of data from one or more global property sensors (e.g., globalproperty sensor 228 of FIG. 3) in addition to other data provided by thelocalization system such as data from a local, onboard sensor (e.g.,onboard sensor 514 of FIG. 5), may be particularly useful in thepresence of systematic sensor errors or sensors with a high noise rate.For example, in an exemplary embodiment for an outdoor installation, anapparatus and multiple transceivers may be equipped to receive GPSsignals in addition to localization signals 202. This may allowself-localizing apparatus 140 to not only determine its positionrelative to transceivers 130, but also relative to a global referenceframe using localization unit 512. Additionally, this combination oflocalization modalities may allow detection of erroneous data bycomparing readings from two independent measurement systems. Thelocalization system may be further improved by equipping thetransceivers and the apparatus with additional sensors to detect globalproperties, such as barometers. This may be particularly useful to allowlocalization unit 512 to achieve more accurate, more reliable, or fasterlocalization in the vertical direction, for which both GPS and locallocalization systems may provide poorer information because ofunfavorable positioning of transceivers (often all on the ground plane,below apparatuses) and GPS satellites (high in the sky, typically highabove apparatuses).

Global signals may also be used to determine the relative orientation ofa communicating transceiver's antenna 212 and a self-localizingapparatus' antenna 502, which can have an important influence on signalquality or group delay and hence on their computed relative location.Determining orientation can, for example, be achieved by detecting thegravity vector of the transceiver (e.g., using an accelerometer),communicating this information to the apparatus (e.g., as part of thepayload of the localization signal), and comparing it with the gravityvector detected by the apparatus (possibly corrected for the influenceof apparatus' motion) using a model for each of the transceiver's andapparatus' antenna orientation relative to their accelerometer. Thiscomparison can be performed by a compensation unit (e.g., compensationunit 516 of FIG. 5).

As mentioned above localization unit 512 uses data to compute a locationestimate. The data may include received signals 202, data from one ormore onboard sensors 514, data from one or more offboard sensors (e.g.,global property sensor 228 of a transceiver), or other data. Datarelated to received signals 202 may include payload, timestamps, signalcharacteristics (e.g., signal strength, peak shape, etc.), or others.This may be achieved by computing an estimate of the position (and,possibly, orientation or motion) of self-localizing apparatus 140 basedon fusing current values of the data and other information (e.g.,knowledge of input history, a dynamic model of the apparatus) using anestimator. Each individual received signal 202 may be used recursivelyto provide an updated (posterior) position estimate by merging it with aprevious (prior) estimate. In some embodiments, (extended) KalmanFilters, complementary filters, particle filters, Luenberger observers,or any other suitable technique can be used to recursively compute anestimate. Localization unit 512 may collect several localization signalreceptions (e.g., 3, 4, 5, 6, 7, 8, 9, 10, etc.) by storing them inmemory (e.g., memory 518) and batch-processing them (either afterreceiving a predefined number of signals, or at fixed intervals).Batch-processing methods may be based on multilateration techniques bysolving the time difference of arrival (TDOA) measures for the positionof the apparatus 140. In some embodiments, a combination of recursiveand batch processing may be used.

Memory 518 may be used to store information, such as data from receivedsignals 202, for batch processing the current location estimate orparameters for the recursive computation and sensor fusion. Localizationunit 512 may also use data (e.g., compensation values) from acompensation unit or information about received signals 202 generated bythe digital reception electronics 506 (e.g., quality metrics).

A reason for variation in signal quality or group delay may be thattransceivers and self-localizing apparatuses are small and may operatein relative proximity to each other. This may result in a large varietyof relative orientations, relative distances, and relative directions oftransmitter antenna 212 to receiver antenna 502 used in a typicalapplication and encountered during typical use, such as multipletransceivers situated on a plane with apparatuses operating above orbelow the plane, or multiple transceivers situated around a volume withapparatuses operating inside the convex hull of the volume.

Unlike in other localization systems, here signals 202 arriving at theself-localizing apparatus can be of varying quality or can havedifferent group delay. In some embodiments, localization unit 512 may beused to improve the location estimate over prior localization systems byusing specifics of localization signals as well as quality metricsrelated to the received localization signal, such as those provided byreception components (e.g., UWB peak signal strength, UWB peak shape).This may, for example, be achieved by relating the measurement varianceto a signal metric such that measurements with higher variance have alower impact on the localization unit's state estimate. As anotherexample, the localization unit may put more emphasis on data that isindependent of the localization signal (e.g., inertial sensors, globalproperties). As another example, the localization unit may entirelydiscard measurements from certain transceivers that do not meet aquality metric such as a minimum signal quality or group delay.

Unlike prior systems, localization unit 512 may here be situated onself-localizing apparatus 140 because the timestampable localizationsignals travelling from the transceivers to the self-localizingapparatus can contain enough information to allow the apparatus toself-localize. For example, transceivers may be synchronized and theirlocations may be known to the apparatus.

FIG. 6 is an illustrative timing diagram, which depicts the propagationof a received localization signal (e.g., a UWB signal) through aself-localizing apparatus' antenna 502, analog reception electronics504, and digital reception electronics 506 in accordance with someembodiments of the present disclosure. The interconnection of thesecomponents will be referred to as the reception pipeline. Each of thesecomponents introduces a delay to the propagation of the received signal.Time is shown on the vertical axis, where the notation _(A)t is used toindicate that time t is measured with reference to the clock ofself-localizing apparatus A.

Considering a signal that arrives at time _(A)t₀ ^(Rx) 602 at antenna502 of a self-localizing apparatus, the signal propagates through thereception pipeline, before its arrival is timestamped at time _(A)t₀ 606by digital reception electronics 506. The delay introduced by thepipeline (given by the difference between _(A)t₀ 606 and _(A)t₀ ^(Rx)602) is denoted _(A)δ₀ 604 and is referred to as pipeline delay.Consider now a second signal that arrives at time _(A)t₁ ^(Rx) 612 atantenna 502 of the self-localizing apparatus and, after a pipeline delayof _(A)δ₁ 614 through the reception pipeline, is timestamped at time_(A)t₁ 616. The variation in pipeline delay between the two signals isgiven as |_(A)δ₁−_(A)δ₀|. Note that this measurement is with respect tothe clock of the self-localizing apparatus 140, and is thus independentof clock-rate offsets. In some embodiments, the difference betweenpipeline delays 604 and 614 is less than 0.01, 0.6, 3, or 15nanoseconds, which allows more accurate localization to be achieved.

Variation in pipeline delay is influenced by physical, measurablefactors including the frequency response of the self-localizingapparatus' antenna 502, internal amplification and the accuracy andvariation in the generation of timestamps by digital receptionelectronics 506. Since antennas are non-ideal electromagnetic devices,their frequency response is described by a reception-angle-dependentmagnitude response corresponding to how much a radio signal is amplifiedor attenuated by the antenna, as well as a reception-angle-dependentphase response corresponding to how much a radio signal is delayed bythe antenna. These responses are deterministic functions of the angle atwhich a signal is received and result in an electrical delay of thesignal as it passes through antenna 502. In some embodiments, thesignal's propagation through the analog reception electronics 504 anddigital reception electronics 506 may be further delayed by internalamplification of the signal to achieve a consistent signal level,irrespective of received signal strength. Furthermore, the ability ofdigital reception electronics 506 to consistently and accuratelytimestamp the arrival of an UWB signal requires it to consistently andaccurately identify the signal's “first-path”. Errors in thisidentification, which are discussed below, result in a non-constanterror in the timestamping process and thus a perceived delay in thesignal's propagation time through the reception pipeline. In addition tosystematic pipeline delays, in some embodiments random, external orunmodelled processes may also affect the pipeline delay, introducingnon-systematic delays in the reception pipeline. In some embodiments,temperature is an example of such a process, whereby changes intemperature may influence the processing time required by digitalreception electronics 506.

The effect of a non-constant pipeline delay is the introduction ofnon-constant error in the reception time of any signal 202. It willtherefore be apparent to one skilled in the art that a non-constantpipeline delay, as illustrated in FIG. 6, may correspond to anon-constant error in any time-of-arrival or time-distance-of-arrivalmeasurement derived from the reception times of any signals 202. Acompensation unit (e.g., compensation unit 516 of FIG. 5) may, in someembodiments, compensate for this systematic, yet non-constant error.

FIG. 7 is a block diagram of an illustrative self-localizing apparatuscomprising a pair of first and second self-localizing apparatuses 140 a,140 b in accordance with some embodiments of the present disclosure.Self-localizing apparatuses 140 a, 140 b are physically coupled togetherusing a structural element 700. Each self-localizing apparatus 140 a,140 b comprises an antenna 502 a, 502 b, analog reception electronics504 a, 504 b, digital reception electronics 506 a, 506 b, and alocalization unit 512 a, 512 b. As illustrated, the pair of localizationunits 512 a, 512 b are operationally coupled using communication path702. Communication path 702 allows localization units 512 a, 512 b toexchange data related to their location (e.g., their current locationestimate).

Structural element 700 provides a rigid or semi-rigid attachment betweenself-localizing apparatuses 140 a, 140 b. In some embodiments,structural element 700 may include one or more of printed circuit board(PCB) mounts, multi-purpose enclosure boxes, struts, or connecting rods,among others. Because self-localizing apparatuses 140 a, 140 b arephysically connected, their relative location is fully or partiallyknown. This may allow first localization unit 512 a to improve itslocation estimate based on data related to the location of secondlocalization unit 512 b and data related to the known relative locationof first and second localization units 512 a, 512 b.

In some embodiments, the pair of self-localizing apparatuses 140 a, 104b shown in FIG. 7 may operate as redundant self-localizing apparatuses,which can provide a safeguard against failure. For example, if acomponent in first self-localizing apparatus 140 a fails, a localizationsystem may rely on second self-localizing apparatus 140 b. Depending onthe use case, redundancy can be achieved for some or all of theself-localizing apparatus's components.

As illustrated, first and second self-localizing apparatuses 130 a, 130b use different antennas 502 a, 502 b. In some embodiments, antennas 502a, 502 b may have different characteristics. For example, antennas 502a, 502 b may differ in their orientation, in their antenna polarization,or in their gains, among other factors. This may result in technicaladvantages, including an improved signal-to-noise ratio or lessvariation in signal reception while the self-localizing apparatus moves.

In some embodiments, a self-localizing apparatus' antennas 502 a, 502 bmay be used to implement a multi antenna setup. A multi-antenna setupmay comprise some separate electronics 504 a, 504 b, 506 a, 506 b for anindividual resonant element. For example, a multi-antenna setup maycomprise separate reception electronics for an antenna.

In some embodiments, self-localizing apparatuses 140 a, 140 b furthercomprise respective sensors 514 a, 514 b. Each sensor 514 a, 514 b isoperationally coupled to a respective localization unit 512 a, 512 b.Sensors 514 a, 514 b may allow the corresponding self-localizingapparatus to improve its localization. In some embodiments, firstlocalization unit 512 a may communicate data related to its location(e.g., its current location estimate, its sensor 514 a readings) tosecond localization unit 512 b. This may allow second localization unit512 b to improve its location estimate.

It will be understood that the pair of self-localizing apparatuses ofFIG. 7 can be used in place of a single self-localizing apparatusdepicted in FIGS. 2 and 5.

FIG. 8 is a block diagram of an illustrative self-localizing apparatus140 comprising multiple selectable antennas 502 a, 502 b, 502 c inaccordance with some embodiments of the present disclosure.Self-localizing apparatus 140 further comprises a radio frequency switch(RF switch) 800 that selects a specific one of antennas 502 a, 502 b,502 c for use. In some embodiments, RF switch 800 comprises asingle-pole-double-throw (SPDT) or multiport (SPnT) switch. Theparameters of RF switch 800 (e.g., frequency range, isolation, switchingspeed, etc.) may be optimized to fit the particular use case. Asillustrative in FIG. 8, RF switch 800 is used as a multi-antenna setup.In some embodiments, antennas 502 a, 502 b, 503 c may have differentcharacteristics. For example, antennas 502 a, 502 b, 503 c may differ inone or more of the following characteristics orientation, polarization,gains, antenna type. Localization unit 512, or other components ofself-localizing apparatus 140, may control RF switch 800 to select oneof the multiple antennas based on localization information. Thelocalization information may include, for example, one or more of theposition of the self-localizing apparatus, the orientation of theself-localizing apparatus, the next localization signal to be received,a quality associated with one or more antennas, the type of antenna, andany other localization information. It will be understood that in someembodiments, RF switch 800 and multiple selectable antennas 502 a, 502b, 502 c may be used with any other self-localizing apparatus of thepresent disclosure.

FIG. 9 is a block diagram of an illustrative localization unit 512,which includes a location update process, in accordance with someembodiments of the present disclosure. The localization algorithmdepicted in FIG. 9 takes the form of an extended Kalman filter (EKF).Localization unit 512 may be used with any suitable self-localizingapparatus 140 of the present disclosure. At the beginning of a cycle,localization unit 512 performs a process update step 920, where it usesthe previously estimated state of the apparatus and, if available, datafrom control unit 940 that is indicative of the signal sent to one ormore actuators. The result of this step is a prior estimate 922 (e.g.,an estimate of the current state of an apparatus 140 that does not takeinto account any newly taken measurements). This prior estimate is thenfused with available measurements. The prior estimate, measurements, andother data used by the localization unit 512 may be temporarily storedin a memory (not shown).

A first kind of measurement is the reception of a localization signal202. In this case, timestamp 900 of the received signal is firstprocessed by a clock correction 902 (using data from synchronizationunit 510) and an effect compensation 904 (using data from compensationunit 516). The resulting corrected time of arrival 906 represents anestimate of when the localization signal reached the self-localizingapparatus antenna 212, which may then be fused with the prior estimatein an EKF measurement update step.

As stated above, the resulting corrected time of arrival 906 representsan estimate of when a localization signal 202 reached the apparatus'antenna 212. In some embodiments, transmission information is includedin the payload of the received localization signal, which representswhen the signal was transmitted and by which transceiver 130. Thetransmission information, together with the corrected time of arrival,is a measure for the distance between apparatus 140 and transceiver 130.In localization unit 512, the corrected time of arrival and thetransmission information may then be fused with the prior estimate in anEKF measurement update step 924.

A second kind of measurement, if new data is available, is datarepresentative of a local measurement of a global property (e.g., fromglobal property sensor 520). This data is then compared to datarepresentative of remote measurement(s) (provided by digital receptionelectronics 506) of that global property (e.g., from global propertysensor 228) at compare 912, and a global property model 914 providesinformation on how this comparison relates to the location, orientation,or motion of a self-localizing apparatus 140. This information may thenbe fused into the state estimate in an EKF measurement update step 924.An example of a global property is the signal strength of a wirelesssignal. The free-space path loss of a radio frequency signal offrequency f transmitted over a distance d is:FSPL(dB)=20 log 10(d)+20 log 10(f)+K,with K being a constant that depends on the units used for d and fThrough this equation, the distance of the self-localizing apparatus tothe source of the wireless signal may be related to the distance of thetransceiver(s) 130 to the same source.

A third kind of measurement, if new data is available, is from a sensorsuch as sensor 514. Such a measurement may also be fused into the stateestimate in an EKF measurement update step 924.

Synchronization unit's 510 estimate of the local clock behavior andcompensation unit's 516 estimate of compensation values may depend onthe estimated location computed by the localization unit 512. Thisdependence may be resolved by first using the prior location estimate tocompute clock behavior and compensation values, and by then computing anew posterior location estimate 926. This dependency may also beresolved by estimating the clock behavior or clock correction,compensation values, and location in parallel, or iteratively byalternating between 1) the computation of new clock behavior or clockcorrection and compensation value computation using the current locationestimate; and 2) location estimation using the current clock andcompensation values until the computed values have substantiallyconverged.

In some embodiments, localization unit 512 and the other componentsdepicted in FIG. 9 may be integrated with a mobile robot. In such aconfiguration, control unit 940 may be configured to compute actuatorcommands based on the location computed by localization unit 512 forcontrolling the mobile robot.

FIG. 10 shows an illustrative mobile robot 1000 that includes aself-localizing apparatus 140 in accordance with some embodiments of thepresent disclosure. Mobile robot 1000 may also include one or moresensors (e.g., MEMS sensors and sensors 514). In some embodiments,mobile robot 1000 includes an accelerometer 1006 and a gyroscope 1008.In some embodiments, mobile robot 1000 additionally includes one or moreof magnetometers, barometers, a GPS receiver, and proprioceptive sensors(e.g., sensors to monitor battery level and motor currents). Mobilerobot 1000 as illustrated also includes actuators 1004 (e.g., fourmotors) that are used to rotate four propellers 1010 that allow themobile robot to stay airborne and to control its movement through thespace. In some embodiment, actuators 1004 are powered by a battery. Insome embodiments, transceivers or apparatuses are powered by batteries.

Self-localizing apparatus 140 of FIG. 10 may be integrated with mobilerobot's 1000 electronics (e.g., central processing electronics 1002).For example, apparatus 140 may have access to mobile robot's 1000sensors (e.g., sensor 514, accelerometer 1006, and gyroscope 1008). Thismay, for example, be useful or convenient to achieve a certain weightdistribution on a flying robot, to allow for better antenna reception,or to co-locate related electronic components.

Depending on the application, flight electronics may be more complexthan the embodiments described here and may, e.g., comprise multipleelectronic processing units, multiple antennas, or multipleself-localizing apparatuses.

FIG. 11 is a block diagram of an illustrative control unit 940 that maybe used, for example, with mobile robot 1000 of FIG. 10 in accordancewith some embodiments of the present disclosure. Control unit 940 usescascaded controllers (horizontal controller 1102, vertical controller1110, reduced attitude controller 1120, yaw controller 1130, andbody-rate controller 1142, with reference signal/feedback signal flowomitted for clarity).

The control scheme depicted in control unit 940 is used to followdesired vehicle position and yaw trajectories. The onboard controlcomprises four separate loops: horizontal 1102 and vertical positioncontrol 1110 loops, a reduced attitude control 1120 loop and a yawcontrol 1130 loop. It will be understood that the reference numeralsused for controllers within control unit 940 of FIG. 11 are also used torefer to control loops associated with the controllers. The output ofthe four control loops are the three body rate commands to the flyingmobile robot 1000 shown in FIG. 10, and the collective thrust producedby the mobile robot's four propellers 1010.

The control strategy shown in FIG. 11 is based on a cascaded loopshaping design strategy. The controller design is therefore split intothe design of several controllers of lower-order dynamic systems. Thevertical control loop 1110 is shaped such that it responds to altitudeerrors like a second-order system with collective thrust c 1112.Similarly, to the vertical control loop 1110, the two horizontal controlloops 1102 are shaped to behave in the manner of a second-order system.However, no control inputs are directly calculated but commandedaccelerations a(x) 1104 and a(y) 1106 are given as set points to theattitude controller 1120. The attitude controller 1120 controls thereduced attitude of the mobile robot such that commanded accelerationsa(x) 1104 and a(y) 1106 are met. The commanded accelerations are thenconverted to commanded rotation matrix entries. Using the rotationalkinematics of the mobile robot, the rate of change of the matrix entriescan be used to compute the desired vehicle body rates p 1122 and q 1124.The controllers described above fully define the translational behaviorof the mobile robot. The yaw controller 1130 may then be implemented asa proportional controller from the measured yaw angle to compute thedesired yaw rate r 1132 (e.g., as measured by a sensor 514 on the mobilerobot 1000). Body-rate controller 1142 receives current body rates(measured or estimated), desired vehicle body ratesp 1122, q 1124, and r1132 and together with collective thrust c 1112 control unit 940 outputsactuator commands f₁,f₂,f₃,f₄ 1144 to actuators 1004 to cause movement1146 of mobile robot 1000.

FIG. 12 shows an illustrative transceiver network including multipletransceivers 130 in accordance with some embodiments of the presentdisclosure. Such a transceiver network may allow for the use of aself-localizing apparatus 140 in a wide geographic area by allowing forthe simultaneous use of a large number of transceivers. As shown in FIG.12, in the case where transmission ranges 1400 of two transceiversoverlap, the transceivers will be referred to as “interfering”, becausesimultaneous transmission of localization signals 202 by bothtransceivers may result in the localization signals 202 interfering. Atransmission range may, for example, be defined as the boundary of thearea where the signal strength of the transmitted signal drops below thereceiver sensitivity. To avoid signal interference, the signal emissionsof transceivers in a particular area are typically coordinated. In someembodiments, this may be achieved by ensuring adequate separation ofsignals in time (e.g., through sufficient time between the emission oftwo signals, e.g., using a scheduling unit), in space (e.g., throughsufficient geographic separation of transceivers, by regulating thetransmission power), in frequency (e.g., through sufficient separationof the localization signals' transmission carrier frequencies (centerfrequency) or bandwidth, e.g., using a scheduling unit), or in preambleproperties (e.g., preamble code, preamble modulation).

The amount of time required for sufficient signal separation in time maydepend on many factors (e.g., strength of the signal, size of a signalpacket, pulse/peak shape of the signal, transceiver's antenna,receiver's antenna, the geographic location of transceivers (includingtheir geographic separation), obstacles, background noise, etc.).Ensuring time separation of signals may mean that the duration betweensubsequent signals from any particular transceiver increases as thenumber of transceivers grows. This can be particularly problematic fordynamic autonomous mobile robots, where even relatively small reductionsin update rates may result in a significant degradation in localizationperformance. A known method of ensuring time separation is Time DivisionMultiple Access (TDMA). Aloha methods may also be utilized inembodiments where occasional signal interference is acceptable, andwhere signal timing is unimportant.

Sufficient separation in space, related to the transmission range ofeach transceiver, may depend on many factors (e.g., strength of thesignal, frequency of the signal, bandwidth of the signal, pulse/peakshape of the signal, transceiver's antenna, receiver's antenna, thegeographic location of transceivers (including their geographicseparation), obstacles, background noise, etc.). In some embodiments,typical spatial separation is 1-100 meters. In some embodiments, typicalspatial separation is 10-500 meters. In some embodiments, typicalspatial separation is 200-2000 m. In some embodiments, typical spatialseparations are on the order of kilometers. In some embodiments, twotransceivers may be co-located. In some embodiments, combinations ofspatial separations are used. In FIG. 12, transmission range 1200 isgraphically represented as a circle for simplicity; however, it will beapparent to one skilled in the art that transmission range 1200 may be amore complex shape. When ensuring space separation of transmissions, itmay be desirable to locate transceivers 130 such that a self-localizingapparatus 140 would be capable of receiving transmissions from apredetermined number of transceivers 130 at every point within a definedgeographic area. This number of transceivers 130 may depend on manyfactors (e.g., desired update rate, desired system robustness, timeseparation of the transmissions, frequency separation of thetransmissions, background noise, obstacles, etc.).

Achieving sufficient separation in space may be further aided by theselection of suitable antennas. Some embodiments use directionalantennas. Some embodiments use omnidirectional antennas. In someembodiments, directional antennas are used to help ensure spaceseparation of localization signals. In some embodiments, by directingthe transmissions of transceivers 130 using directional antennas, it maybe possible to more accurately control which transceivers 130 transmitto which regions of a defined space and thus more accurately control thespace separation of localization signals 202. In some embodiments, bydirecting the transmissions of transceivers 130 using directionalantennas, it may be possible to achieve a longer transmission range in adesired direction. Other methods that may aid spatial separation includeshielding, placement (e.g., away from noise sources), optimizingradiation patterns, and combinations of the above. In some embodiments,by equipping a self-localizing apparatus 140 with a directional antenna,orientation information can be estimated based on a comparison of whichsignals are received with the known locations of transceivers 130.

In some embodiments, transceivers 130 are arranged such that coverage ofa desired operating area is optimized with respect to some metric. Insome embodiments, a transceiver's 130 operation is optimized withrespect to some metric. Suitable metrics may include the number oftransceivers in range, a signal strength, update rate from a specificcombination of transceivers, multipath effects, or others, includingcombined metrics. Transceiver arrangement may comprise a transceiver'slocation, a transceiver's antenna orientation, a transceiver's operatingfrequency, a transceiver's bandwidth, or other factors. An operatingarea may be a geographic area, a flight volume for a flying robot 1000,a pre-defined operating volume, or another area. Optimization mayconcern physical parameters (e.g., geographic placement of transceivers,antenna orientations, etc.) or operational parameters (e.g., theoperation of a scheduling unit 218). In some embodiments, optimizationmay be performed by a scheduler. In some embodiments, an optimizationmay be pre-computed. In some embodiments, a schedule is createdmanually. In some embodiments, a schedule is created base on anoptimization. For example, in some embodiments an optimal schedule maybe determined by minimizing the number of transceivers per zone or perregion, with the constraint that every point within a defined area becapable of receiving from, for example, at least three transceivers. Forsome problems such a schedule may ensure that a self-localizingapparatus is capable of localization in three-dimensions throughout adefined area, while further minimizing the TDOA cycle time within thecell (which can be proportional to the number of transceivers within thecell). As another example, in some embodiments a schedule may becomputed as the solution of an optimization problem that weighs up thecost of a self-localizing apparatus changing frequency, with the cost ofan increased TDOA cycle time.

Sufficient separation in transmission frequency may depend on manyfactors (e.g., strength of the signal, frequency of the signal,bandwidth of the signal, pulse/peak shape of the signal, transceiver'santenna, receiver's antenna, the geographic location of transceivers(including their geographic separation), obstacles, background noise,etc.). In some embodiments, it may be implemented using a schedulingunit. In some embodiments, separation is in the range of 1-50 MHz. Insome embodiments, separation is in the range of 100-500 MHz. In someembodiments, separation is in the range of 200-1000 MHz. In someembodiments, overlapping transmission frequencies are used. Whendesigning for frequency separation of signals, it may be important toconsider that a self-localizing apparatus 140 may need to change itsreception frequency to receive the frequency-separated localizationsignals 202. A known method of ensuring frequency separation isFrequency Division Multiple Access (FDMA). In some embodiments,combinations of various frequency separations are used.

In some embodiments, TDMA may be employed to ensure time separation oflocalization signals 202. In some embodiments, a simple approach may beemployed, whereby if the transceiver network comprises N transceivers, Ntime slots will be allocated, one per transceiver 130. The time ofcycling through all time slots is sometimes referred to as TDMA cycletime. In a case where all transceivers in a network are interfering,this allocation of N transceivers to N time slots is optimal in that itis the shortest amount of time that allows each transceiver to transmitonce per cycle. Other optimization criteria, such as positioningperformance or information propagation time, may be used. However, inthe embodiment as illustrated in FIG. 13, where not all transceiversinterfere, a different optimal TDMA allocation schedule is possible,which uses fewer than N time slots and thus decreases the TDOA cycletime, and increases the average rate at which a self-localizingapparatus 140 would receive localization signals 202.

FIG. 13 shows an illustrative simplified transceiver network inaccordance with some embodiments of the present disclosure. In FIG. 13,transceivers 130 a and 130 b do not interfere. It will be apparent toone skilled in the art that in this case, both transceivers 130 a and130 b may utilize the same TDMA timeslot, since it is not possible for aself-localizing apparatus to simultaneously receive signals from bothtransceivers because of their separation in space, and thus simultaneoustransmissions will not interfere. This is illustrated in FIG. 13 bytransceivers 130 a and 130 b having the same shading.

In some embodiments, a scheduling unit 218 may coordinate the schedulingof TDMA timeslots. The synchronization of multiple transceivers 130 toachieve a consistent time schedule may in some embodiments be enabled bya synchronization unit 224 or may be enabled by transceivers 130 sharinga common clock 210. In some embodiments, timeslot allocation (i.e., theschedule) may be manually determined or programmed into thetransceiver's memory (e.g., memory 230). In some embodiments, theschedule may be computed autonomously by a scheduler. In someembodiments, the schedule determined by a scheduler may be transmittedby a scheduling unit controller.

In some embodiments, the scheduler (e.g., scheduler 110) may operateperiodically or may be triggered by a transceiver 130 throughtransmission of an appropriate signal 302. In some embodiments, signal302 is transmitted in response to an event. In some embodiments, anadditional TDMA timeslot is allocated for transmission of arbitrarylocalization signals 202 or transceiver signals 302. In someembodiments, usage of this TDMA timeslot is coordinated by ALOHA. Insome embodiments, transceivers 130 use this TDMA timeslot to alert othertransceivers 130 to the occurrence of an event. In some embodiments,this timeslot is used by a scheduling unit controller to triggerswitching to a new schedule.

In some embodiments, periodic or triggered reallocation allows thenetwork to adapt the schedule such that the allocation of TDMA timeslotscompensates for transceivers joining or leaving the transceiver network.The addition of a transceiver 130 to the network may, in someembodiments, be achieved by leaving one TDMA slot unallocated to allownew transceivers 130 to announce their addition to the network andtrigger a redefinition of the transmission schedule (i.e., allocation ofTDMA timeslots). Removal of a transceiver 130 from the network may, insome embodiments, be achieved by enabling transceivers to monitor fornon-transmission of a transceiver 130 and trigger a redefinition of thetransmission schedule if a transceiver 130 has not transmitted for apredetermined number of its TDMA timeslots.

In some embodiments, a TDMA time slot length less than 0.1 ms, 0.5 ms, 1ms, 2 ms, 2.5 ms, 5 ms, 10 ms, or 50 ms is used.

In some embodiments, a transceiver 130 may include its estimatedlocation or timing information within the payload of its localizationsignals 202 or transceiver signals 302. In some embodiments, atransceiver 130 is operable to receive these transmitted signals 202,302. In some embodiments, a receiving transceiver may include asynchronization unit 224 that acts to synchronize the time schedule ofthe receiving transceiver with the time schedule of the transmittingtransceiver, based on received timing or location information.

In some embodiments, transceivers 130 may be allocated more than oneTDMA timeslot in at least one schedule, allowing them to transmit moreoften within one TDMA cycle. In some embodiments, allocation of multipletimeslots may, for example, be decided based on the Fisher Informationadded by the transceiver 130—a heuristic known to those skilled in theart, which can be calculated based on the transceiver's relativeposition.

In some embodiments, Frequency Division Multiple Access (FDMA) is usedto mitigate transceiver interference, whereby interfering transceiversmay be allocated different transmission frequencies such that they nolonger interfere. In some embodiments, interfering transceivers may beallocated different preambles or pulse repetition frequencies to achievea similar effect.

FIG. 14 shows an illustrative transceiver network where transceivers 130are grouped into adjacent cells 1410 in accordance with some embodimentsof the present disclosure. In some embodiments, adjacent cells 1410 mayemploy FDMA techniques to enable transceivers 130 from different cells1410 to operate simultaneously and without significant interference inareas 1420 in which the transmissions overlap. In some embodiments,different cells 1410 may use different transmission parameters such asdifferent transmission center frequencies, frequency bandwidths,preambles codes, preamble modulation schemes, or pulse repetitionfrequencies for the transmission of localization signals 202 such thatthe different cells 1410 can operate simultaneously and withoutsignificant interference. This may enable a self-localizing apparatus140 to receive localization signals 202 anywhere in the network, evenwhen moving through more than one cell during reception. Within eachcell, TDMA may be used to coordinate the transmissions of individualtransceivers 130.

FIG. 15 shows a mobile robot 1000 operating within an area 1420 servicedby multiple transceiver cells 1410 of differing frequency in accordancewith some embodiments of the present disclosure. Mobile robot 1000comprises two self-localizing apparatuses 140, which are physicallycoupled to mobile robot 1000. Because mobile robot 1000 is operating inan area serviced by multiple transceiver cells 1410, multiplelocalization signals 202 of differing frequencies may be present in area1420 simultaneously. In some embodiments, this means that the twoself-localizing apparatuses 140 coupled to mobile robot 1000, whenconsidered together, receive localization signals 202 at a higher ratethan it would if all transceivers 130 were to transmit on the samefrequency and use TDMA to coordinate their transmissions. In someembodiments, by using two self-localizing apparatuses 140, this mayallow one or more localization units to update a location estimate at ahigher rate. In some embodiments, a communication path (e.g.,communication path 702) between two self-localizing apparatuses 140 mayallow a localization unit to compute the orientation as well as thelocation of the body (e.g., mobile robot 1000 in FIG. 15) to which thetwo self-localizing apparatuses are attached. In some embodiments,having multiple self-localizing apparatuses 140 may allow one or morelocalization units to compute location more accurately.

As explained above, a scheduler such as scheduler 110 of FIG. 1 may useone or more input parameters to determine a schedule for transmittinglocalization signals by anchors of a localization network. In someembodiments, the inputs to scheduler 110 include the position of theanchors and user requirements such as desired positioning performance.FIG. 16 shows illustrative input parameter maps 1610 and 1620 that canbe used for determining a schedule in accordance with some embodimentsof the present disclosure.

Input parameter map 1610 illustrates two input parameters. The firstinput parameter is the position of anchors 130. As illustrated, thelocalization network comprises six anchors 130. The positions of anchors130 may be identified automatically in a calibration step, or may bedetermined by a user when the system is installed (e.g., from aperformed survey or from available drawings to which the mountingpositions can be referred). The second input parameter is the desiredpositioning performance of the localization network. Input parameter map1610 illustrates contour lines of the desired positioning performance.As illustrated, the desired positioning performance is reflected using ascale from 1, which reflects high performance (e.g., performance iscrucially important), to 0, which reflects low performance (e.g., whereno localization performance is needed). Intermediate values between 1and 0 signify that some localization performance is required, but avarying degree of degradation is acceptable. In some embodiments, thecontour lines of input parameter map 1610 reflect discrete desiredperformance levels. For example, the desired positioning performance maybe 0 below contour line 0, 0.5 between contour lines 0 and 0.5, 0.8between contour lines 0.5 and 0.8, 1 above contour line 1. In someembodiments, the contour lines reflect continuous values between 0and 1. Input parameter map 1620 is similar to input parameter map 1610,but uses a binary map to reflect desired positioning performance. Thebinary positioning performance includes two regions—one region wherelocalization is required (1) and another region where no localization isrequired (0).

In some embodiments, the desired positioning performance in maps 1610and 1620 are determined by a user directly (e.g., according to abuilding plan from which regions of interest have been extracted) or itcould be automatically generated (e.g., from known motion patterns ofautonomous machines). It will be understood that maps 1610 and 1620 aremerely illustrative and that the position of anchors 130 and the desiredpositioning performance may be inputted to a scheduler in any suitableform. For example, the positions of anchors 130 may be inputted usingthe coordinates of anchors 130 in a coordinate system. As anotherexample, the desired positioning performance may be inputted using afunction that defines the position performance. As another example, thedesired positioning performance may be inputted using an array of valuesthat define the positioning performance within a coordinate system. Asanother example, the desired positioning performance may be inputtedusing the shape or location of contour lines.

In some embodiments, input parameter maps are static maps that aregenerated upon initialization of a localization system and are notchanged until a subsequent initialization or calibration of alocalization system. In some embodiments, input parameter maps changeover time and therefore can be dynamic. FIG. 17 shows an illustrativedynamic positioning performance map 1710 used for determining a schedulein accordance with some embodiments of the present disclosure. Map 1710comprises a plurality of different frames that show how localizationcoverage requirements change over time. The shaded portion of each frameindicates the region where localization coverage is needed. The unshadedportion of each frame indicates regions where localization coverage isnot needed. As illustrated, positioning performance map 1710 is a binarymap. The consecutive frames of map 1710 show snapshots of a binaryperformance map that is parametrized in time. Such a map could be storedas a dense series of snapshots, as a sparse series of snapshots (usinginterpolation techniques between the snapshots), using parametric models(e.g., using periodic functions), using any other suitable, or using anyother suitable technique. It will be understood that the binary natureof positioning performance map 1710 this is merely illustrative and thatmap 1710 may also be implemented using continuous values or usingmultiple discrete performance levels.

FIG. 18 shows an illustrative example of how a schedule can be adjustedin accordance with some embodiments of the present disclosure. In someembodiments, the schedule can be adjusted in real-time based onlocalization requirements. As shown in the top left portion of panel1810, location map 1820 a shows the location of three mobile robots 1000within a coordinate system. Each of mobile robots 1000 may include oneor more self-localization apparatuses 140 and be configured to transmitits location back to the localization network. For example, mobilerobots 1000 may be configured to wireless transmit (e.g., via antenna502 of a self-localizing apparatus 140) their locations back to one ormore anchors of the localization network. Mobile robots 1000 may alsotransmit additional information to the localization network such astheir current velocities or planned motions. From this information,coverage requirement map 1830 a can be extracted. In some embodiments, ascheduler such as scheduler 110 may receive the information from mobilerobots 1000 and generate coverage requirement map 1830 a. In someembodiments, coverage requirement map 1830 a can be generated byrequiring coverage for a fixed radius surrounding the current positionof each mobile robot 1000 and also for a fixed radius around the plannedmotion paths of the mobile robots.

Coverage requirement map 1830 a can be used by the scheduler to computean appropriate schedule 1840 a for the given requirements. Depending onthe trade-off between positioning performance and computationalcomplexity, the scheduler may select the most appropriate among a seriesof pre-computed and stored schedules, or it may compute a new,optimized, schedule based on requirement map 1830 a. Informationregarding schedule 1840 a may be transmitted to one or more controlunits of the localization network for controlling the transmission oflocalization signals from the anchors of the network.

In some embodiments, the scheduler transmits information about theschedule 1840 a to a scheduling unit controller, which in turn transmitsa signal to the anchors which then causes the anchors to transmitaccording to the schedule. When schedule 1840 a is pre-computedschedule, the scheduling unit controller may only send a signalindicative of which schedule to use (e.g., “use schedule nr. 3”). Whenschedule 1840 a is a newly computed schedule, the scheduling unitcontroller may transmit the new schedule to the anchors and then signalthe change of schedule once the anchors have received it.

The process described may be repeated at a later time to adjust theschedule in real-time. As shown in the bottom portion of panel 1810, thelocations of mobile robots 1000 have changed in location map 1820 b. Thenew locations depicted in location map 1820 b may be used to generate anew coverage requirement map 1830 b, which in turn can be used todetermine schedule 1840 b. Schedule 1840 b can then be used to controlthe transmission of localization signals from the anchors of the networkas described above.

FIG. 19 shows another illustrative example of how a schedule can beadjusted in accordance with some embodiments of the present disclosure.In this example, a group of mobile robots 1000 is moving in a relativelylarge space according to a predefined set of trajectories and a set ofanchors is distributed among the entire space. Location maps 1910 a,1910 b, 1910 c, and 1910 d show the locations of the mobile robots 1000as they move along the predefined set of trajectories. Specifically, thegroup starts in the lower-right quadrant and then movescounter-clockwise through the four quadrants. To improve the positioningperformance of the localization network, one may want to use only asubset of the anchors that are in close proximity to the group of mobilerobots 1000 and configure the other anchors to not transmit. In locationmap 1810 a, because mobile robots 1000 are located in the bottom rightquadrant, it may be desirable to not use anchors in the top-leftquadrant. For example, these anchors may be too far away from mobilerobots 1000 for their signals to be successfully received. It may alsobe desirable to have mobile robots 1000 receive localization signals ata relatively high rate and not using anchors that are far away mayincrease the rate at which localization signals could otherwise bereceived by mobile robots 1000.

Accordingly, in some embodiments, the schedule may be adjusted so thatonly anchors located within region A are used to transmit localizationsignals. In other embodiments, the schedule may be adjusted so that asubset of anchors is used to only provide localization capability inregion A. As shown in FIG. 19, as the location of the group of mobilerobots 1000 changes over time, region A follows them through the fourquadrants. As a result of these schedule changes, the area where themobile robots can localize themselves (region A) moves over time. Theadjustment to the schedule can be achieved in several ways. In one case,the transmission schedule could be changed periodically based on theposition of the group of mobile robots 1000. This could be done in anopen loop fashion, assuming that a centralized unit knows the targetposition of the mobile robots, or in a closed loop fashion based onposition information provided by the mobile robots. Thus, differentschedules can be used over time. In another potentially moresophisticated example, the adjustments can be accomplished using asingle long schedule that is synchronized with the movement of themobile robots (e.g., the schedule can be started when the mobile robotsstart moving or a certain amount of seconds before) and has a durationwhich is at least as long as the duration of the mobile robottrajectories.

While FIG. 19 shows adjusting a schedule based on the location of onegroup of mobile robots, a schedule can also be adjusted based on two ormore groups of mobile robots. FIG. 20 shows an illustrative example ofhow a schedule can be adjusted for two groups of mobile robots inaccordance with some embodiments of the present disclosure. In thiscase, the mobile robots are organized in two different groups which moveaccording to different sets of trajectories.

This presents a technical problem of how to configure the schedule toaccommodate and optimize the transmission of localization signals. Insome embodiments, it may be convenient to organize the anchors of thelocalization network in two clusters and define the schedule in such away that the mobile robots of the first and second groups can localizeand receive data from the anchors (e.g., commands) independently. Thiscan be achieved, for example, by using two different carrier frequenciesfor the two clusters or by setting the transmission power in such a waythat the transmission of the anchors allocated to the first group ofmobile robots does not interfere with the transmission of the anchorsdedicated to the second group of mobile vehicles.

As shown in location map 2010 a, a first group of mobile robots startsfrom the top of the space, within cluster A, while a second group startsfrom the bottom, within cluster B. The schedule may cause a first groupof anchors, cluster A, to cover the area occupied by the first group ofmobile robots and a second group of anchors, cluster B, to cover thearea occupied by the second group of mobile robots.

As part of the target trajectories, the mobile robots of the first groupconverge toward the center of the top part of the space while the mobilerobots of the second group split and move to the sides of the bottompart. This is illustrated in location map 2010 b. These movements, forexample, do not require an update of the transmission schedule.

Next, the target trajectories may cause the mobile robots of the firstgroup to move toward the bottom part, while the mobile robots of thesecond group move toward the upper part. This is illustrated in locationmap 2010 c. To perform these maneuvers, the transmission schedule isupdated to change the set of anchors that belong to cluster A and theset of anchors that belong to cluster B. This creates a central aislefor the mobile robots of the first group and two lateral corridors forthe mobile robots of the second group. It is noted that in some casesthe region of space covered by cluster B could overlap with the regionof space covered by cluster A.

Finally, the target trajectories may cause the mobile robots of thefirst group to spread out within the bottom part of the space and themobile robots of the second group to spread out within the upper part.This is illustrated in location map 2010 d. This is achieved once againby reallocating the anchors among the two clusters.

The concept presented with this use case is that clusters can movetogether with the groups of mobile robots to provide the desiredpositioning performance in the region of space occupied by therespective groups of mobile robots.

It will be understood that while FIGS. 18-20 were described in thecontext of being used for localization of a mobile robot 1000, FIGS.18-20 can be used with any other suitable objects such as vehicles,people, or any other objects that comprises a self-localizing apparatusfor receiving localization signals. In some embodiments, FIGS. 18-20 canbe used with any of the embodiments of transceivers 130 andself-localizing apparatus 140 described herein.

FIG. 21 is a diagram of an illustrative structure of a localizationsignal 202 in accordance with some embodiments of the presentdisclosure. In some embodiments, the structure of localization signal202 is similar to that defined in IEEE standard 802.15.4. The samestandard describes other aspects of localization systems, such as thesignal transmission process. The transmission of a localization signal202 begins at time t_(start) 2122 with the transmission of a preamblesequence 2110. This sequence is typically predefined and known to boththe transmitter (e.g., a transceiver 130) and receiver (e.g., aself-localizing apparatus 140) of localization signal 202. In someembodiments, a preamble sequence 2110 may be stored in memory. In someembodiments, a preamble sequence 2110 may be configurable during systemoperation. In some embodiments, a preamble sequence 2110 may be encodedby the interconnection of digital or analog electronic components.

In some embodiments, preamble 2110 defines a sequence in which radiopulses (e.g., UWB radio pulses) are transmitted on a specifictransmission channel and with a specific rate. This rate may sometimesbe referred to as the pulse repetition frequency. The pulse repetitionfrequency is typically known to both the transmitter and receiver of alocalization signal 202. In some embodiments, the pulse repetitionfrequency may be stored in memory. In some embodiments, the pulserepetition frequency may be configurable during system operation. Insome embodiments, the pulse repetition frequency may be encoded by theinterconnection of digital or analog components.

A receiver is typically capable of receiving a localization signal(e.g., an UWB signal) if it is configured to operate on the transmissioncenter frequency, with the same transmission frequency bandwidth, withthe same preamble code, and the same preamble modulation scheme (e.g.,frequency shift or phase shift). In some embodiments, this may beachieved through appropriate configuration of the receiver's analogreception electronics (e.g., analog reception electronics 504) ordigital reception electronics (e.g., digital reception electronics 506)or of the transmitter's analog transmission electronics (e.g.,transmitter's analog transmission electronics 214) or digitaltransmission electronics (e.g., digital transmission electronics 216).In some embodiments, appropriate selection of channel or preamble 2110or pulse repetition frequency may enable receivers to receive UWBsignals from a specific subset of transmitters. In some embodiments,appropriate selection of channel or preamble 2110 or pulse repetitionfrequency may enable transmitters to transmit UWB signals to a specificsubset of receivers. In some embodiments, appropriate selection ofchannel or preamble 2110 or pulse repetition frequency may allowmultiple localization signals to be transmitted simultaneously, withreduced interference or with no interference.

After transmission of the preamble 2110, the transmitter transmits astart frame delimiter 2112, to indicate the beginning of the signal'sdata portion. After transmission of the start frame delimiter 2112, thetransmitter transmits a physical-layer header (PHR) 2114, containinginformation pertaining to the encoding of the signal's payload 2116(e.g., data rate). After transmission of physical header 2114, thesignal's payload 2116 is transmitted. In some embodiments, the payloadis empty. In some embodiments, the payload contains information from aglobal property sensor 228. In some embodiments, the payload 2116contains information to facilitate synchronization by a synchronizationunit (e.g., a synchronization unit 510). In some embodiments, payload2116 contains information to enable the scheduling of futuretransmissions by a scheduling unit (e.g., scheduling unit 218). In someembodiments, payload 2116 contains information to enable theself-localizing apparatus to receive future transmissions (e.g.,announcements of future signal transmissions that may include thetransmission time, the transmission channel, the transmission preamblecode, or the transmission pulse repetition frequency). In someembodiments, payload 2116 contains information pertaining to priortransmitted or received signals (e.g., signals 202 or 302). In someembodiments, payload 2116 contains other information. In someembodiments, payload 2116 may contain multiple pieces of information. Insome embodiments, payload 2116 contains error-checking information thatmay be used to evaluate the integrity of the received payload 2116.Transmission of signal ends at time t_(end) 2124 after transmission ofthe payload 2116.

Through the detection and reception of a localization signal's preamble2110, a receiver is able to detect the transmission of a start framedelimiter (SFD) 2112. In some embodiments, the time at which the startframe delimiter 2112 is detected is time stamped by the receiver'sdigital reception electronics (e.g., digital reception electronics 506).After detection of the start frame delimiter 2112, the receiver is ableto detect the physical header 2114. Information encoded in physicalheader 2114 may be used by the receiver to decode information encoded inthe signal's payload 2116.

In some embodiments, payload 2116 may be checked for errors. In someembodiments, payload 2116 may be used within other units of thereceiver. In some embodiments, payload 2116 may be used to calculate atime difference. In some embodiments, payload 2116 may be used tocalculate a distance. In some embodiments, payload 2116 may be comparedwith a measurement from the receiver's global property sensor (e.g.,global property sensor 520). In some embodiments, the payload may bestored in a memory (e.g., memory 230, 516).

As will be apparent to one skilled in the art, while the presentembodiments disclose a specific signal's structure similar to thatdefined in IEEE standard 802.15.4, many other signal structures areequally valid and may be used with the present disclosure.

FIG. 22 shows an illustrative transmission schedule 2200 that may beused to achieve a higher localization update in accordance with someembodiments of the present disclosure. Transmission schedule 2200 may beused, for example, where it is not crucial for a self-localizingapparatus to receive every transmitted data payload. Transmissionschedule 2200 is depicted in the form of a plot with time on the x-axisand transceiver number on the y-axis. As illustrated, transmissionschedule 2200 is determined such that transceiver 1 begins thetransmission of the preamble of localization signal 2202 a at time t0.The transmission duration of signal 2202 a from transceiver 1 is T, andthus the transmission will be completed at t2=t0+T′. The preamble andSFD of signal 2202 a are transmitted during a first duration T′.Therefore, a self-localizing apparatus is capable of timestamping thereception time of signal at time t1=t0+T′.

At time t3, the transmission of localization signal 2202 b fromtransceiver 2 is scheduled. In a conventional schedule, one would chooset3>t2, such that a self-localizing apparatus is capable of completelyreceiving the signal from transceiver 1 before a second localizationsignal is transmitted. However, in this example, t3 is purposely chosensuch that t0<t3<t2 (i.e., the transmission of signal 2202 b fromtransceiver 2 begins after transceiver 1 starts its transmission, butbefore it completes it). In some embodiments, the transmission will bescheduled such that t1<t3<t2.

Schedule 2200 allows a self-localizing apparatus receiving the signalsof the localization system to select, around time t1 or a priori,whether it is more beneficial for its performance to (1) receive signal2202 a from transceiver 1 in full by keeping its reception electronicstuned into signal 2202 a for the entire duration T or (2) only timestampthe signal from receiver 1 but ignore its payload, and instead alsotimestamp signal 2202 b from receiver 2 by tuning into the signal fromtransceiver 1 for a duration of T′, and then aborting the reception andtuning into signal 2202 b from transceiver 2.

Schedule 2200 shows two additional signal transmissions 2202 c, 2202 dfrom respective transceivers 3, 4, where a receiving self-localizingapparatus can make a similar choice for reception.

To enable the self-localizing apparatus to selectively timestamp signalswithout receiving the signals in their entireties, the analog receptionelectronics or the digital reception electronics in the self-localizingapparatus must be operable to receive a signal through which thereception of a signal from the antenna can be limited to thetimestamping of the preamble and SFD portion. In some embodiments, thedigital reception electronics provide a signal when the timestamping hasbeen completed to an interface to stop an ongoing signal reception; thesignal and the interface can then be used in conjunction to stop thereception of a signal after the timestamping has been completed. In someembodiments, the digital reception electronics provide an interfacewhere they can be configured to automatically stop a reception once thetimestamping has been completed.

FIG. 23 shows a portion of the illustrative transmission schedule ofFIG. 22 and corresponding receiver activity 2310 in accordance with someembodiments of the present disclosure. FIG. 23 illustrates furtherdetails of the operation of a receiver of a self-localizing apparatuswhen localization signals are scheduled to partially overlap. Specially,FIG. 23 shows the two partially overlapping localization signals 2202 a,2202 b of FIG. 22. Corresponding illustrative receiver activity 2310 isshown beneath localization signals 2202 a, 2202 b.

Before time t0, the receiver is scanning for a preamble. Shortly afterthe start of the preamble transmission from the first transceiver attime t0, the receiver begins to lock into the preamble sequence oflocalization signal 2202 a. After the transmission of the preamble andthe SFD has been completed, the receiver (e.g., digital receptionelectronics) has timestamped the reception of the localization signal2202 a. At this point, the receiver stops receiving the signal fromtransceiver 1 and begins scanning for a new preamble. Shortly aftertransmitter 2 begins to transmit the preamble of localization signal2202 b at time t3, the receiver locks into the preamble sequence. Thereceiver then stays locked into localization signal 2202 b to receivethe entirety of the signal from transceiver 2, to generate a receptiontimestamp as well as receive the data payload of that signal.

In some embodiments, the self-localizing apparatus includes decisionlogic that determines whether it is more beneficial to receive alocalization signal in its entirety or to only receive the portion thatis required for timestamping. This decision may, for example, be basedon a required minimum payload reception frequency, on a list oflocalization anchors from which the payload must be received (whileothers may only be timestamped), or logic that monitors whethersufficient information is available to interpret signals that are onlytimestamped (such as which anchors they are transmitted by, at whattimes they are transmitted, etc.).

In some embodiments, the self-localizing apparatus includes a schedulingunit that configures the receiver to receive signals in their entiretyor to only timestamp them according to a schedule stored in a memory. Insome embodiments, the payload of localization signals includes aschedule of future transmissions, which is used by the self-localizingapparatus to determine whether to only timestamp or to receive in theirentirety future localization signals.

FIG. 24 shows an illustrative transmission schedule of localizationsignals 2402 a, 2402 b, 2402 c comprising two payloads in accordancewith some embodiments of the present disclosure. The transmissionschedule of FIG. 24 is similar to FIG. 22, but instead of there being asingle payload, the payload of the localization signals is organized intwo parts. The first part of the payload (payload 1) may containinformation that all or most of the self-localizing apparatuses want toreceive while the second part of the payload (payload 2) may containinformation that is interesting for only some of the self-localizingapparatuses.

Before time t0, the receivers of self-localizing apparatuses arescanning for a preamble which is received shortly after time t0.Starting from this point the receivers can lock into signal 2402 a,receive the SFD, and timestamp the message. Some of the receivers maydecide that this information is enough and therefore stop the receptionand start scanning for a new preamble. Some other receivers may beinterested in receiving more information and therefore continue thereception until the first part of the payload (payload 1) is completelyreceived. At this point, these receivers can decide whether to continueand receive the remaining part of the payload (payload 2) or interruptthe reception and start scanning for a new preamble.

The schedule shown in FIG. 24 allows self-localizing apparatuses todecide how much information is received and how frequently the desiredinformation is received. For example, some self-localizing apparatusesmay want to receive the second part of the payload every four incominglocalizing signals, the first part of the payload every two incominglocalizing signals, and the SFD (e.g., message timestamp) every incomingsignal or whenever possible. This would allow for faster timestamping ofincoming signals compared to a receiver that always receives the entirelocalization signal.

In some embodiments, the payload of the localization signals can beorganized in three or more parts and the self-localizing apparatus candetermined which parts to receive.

FIG. 25 shows an illustrative localization system 2500 and acorresponding performance map 2510 in accordance with some embodimentsof the present disclosure. Localization system 2500 comprises 12 anchorslabelled A to L. Performance map 2510 indicates a positioningperformance of 1 for the entire localization space of localizationsystem 2500. Therefore, performance map 2510 indicates that the samepositioning performance should be provided for the entire localizationspace.

Anchors A to L of localization system 2500 can be configured (e.g.,using a schedule determined by a scheduler) to transmit localizationsignals according to any one of a number of different schedules toachieve a similar positioning performance in the localization region. Inone example, the anchors can be scheduled to transmit in alphabeticalorder (i.e., A-B-C-D-E-F-G-H-I-J-K-L). In another example, the anchorscan be scheduled to transmit in such a way that the transmission of ananchor located on the floor is followed by a transmission of anchorlocated on the ceiling (e.g., A-L-C-K-D-H-E-G-F-J-B-I). This may bedesirable to maximize the difference in directions that theself-localizing apparatus receives localization signals from to optimizethe localization performance of the self-localizing apparatus byminimizing the dilution of precision. It is noted that both theschedules are uniform in space and in transmission rate. It is alsonoted that these schedules are merely illustrative and that otherschedules can also be used to achieve the same positioning performancewithin the localization space.

FIG. 26 shows the illustrative localization system 2500 of FIG. 25 usedwith a different performance map 2610 in accordance with someembodiments of the present disclosure. Performance map 2610 differs fromperformance map 2510 of FIG. 25 in that it only requires positioning inthe right part of the localization space. The left part of thelocalization space is not needed. For example, performance map 2610 maybe used when there are no self-localizing apparatuses in the left partof the localization space.

To achieve the positioning performance required by performance map 2610,a subset of the anchors can be configured (e.g., using a scheduledetermined by a scheduler) to transmit localization signals according toany one of a number of different schedules to achieve the desiredpositioning performance. For example, the anchors can be configured suchthat the anchors on the left side of the localization space do nottransmit localization signals. The resulting transmission schedule thushas the advantage of providing a faster transmission rate for theanchors that cover the right side of the localization space. Similar toFIG. 25, the transmission order could be alphabetical (i.e.,B-C-E-F-H-I-K-L) or more sophisticated (e.g., B-L-E-I-F-H-C-K). It isnoted that both of these schedules are uniform in transmission rate, butnot uniform in the localization space.

FIG. 27 shows an illustrative localization system 2700 and acorresponding performance map 2710 in accordance with some embodimentsof the present disclosure. Localization system 2700 comprises 5 anchorslabelled A to E. The distribution of anchors in localization system 2700is different than in localization system 2500 of FIG. 25 in that thenumber of anchors installed on the floor is different than the number ofanchors installed on the ceiling. Performance map 2710 indicates thatthe desired positioning performance is uniform in the localizationspace.

In practice, it may be difficult to evenly distribute anchors within alocalization space. For example, in some installations, it may be morepractical to install a larger number of anchors on the ceiling and alesser number of anchors on the floor. Localization system 2700represents such a situation. If all of the anchors of system 2700transmitted localization signals at the same rate, the positioningperformance may be degraded compared to a system that had evenlydistributed anchors because 4 out of 5 localization signals willoriginate from the ceiling. To mitigate the effect of an unevendistribution of anchors, like in localization system 2700, thetransmission schedule can be defined in such a way that the anchor(s)located on the floor transmits more frequently than the ones located onthe ceiling. For example, the transmission of localization signals mayalternative between the floor and the ceiling such that the transmissionrate for localization signals originating from anchors on the floor isthe same as the transmission rate for localization signals originatingfrom anchors on the ceiling. For example, one suitable transmissionorder for localization system 2700 is: A-E-D-E-B-E-C-E. It is noted thatthis schedule is uniform in space, but not in transmission rate (i.e.,different anchors have different transmission rates).

FIG. 28 shows the illustrative localization system 2500 of FIG. 25 usedwith a different performance map 2810 in accordance with someembodiments of the present disclosure. Performance map 2810 differs fromperformance map 2510 of FIG. 25 in that it requires different levels ofpositioning performance within the localization space. Specifically, thepositioning performance in the right part of the localization space isrequired to be higher than that in the left part of the localizationspace. For example, performance map 2810 may be used when the majorityof self-localizing apparatuses are in the right part of the localizationspace. As another example, performance map 2810 may be used when moreobstacles are present in the right part of the localization space andthus higher performance is desired to reduce the chance of collisionwith an obstacle.

The different levels of positioning performance can be achieved byconfiguring the anchors in such a way that the anchors covering the leftside of the space transmit less frequently than the anchors covering theright side of the space. For example, one suitable transmission orderis: B-L-E-I-F-H-C-K-A-L-C-K-D-H-E-G-F-J-B-I, which results in atransmission rate two times faster for the anchors covering the rightside of the space. Another suitable transmission order is:B-L-E-I-A-F-H-C-K-J-B-L-E-I-D-F-H-C-K-G, which also results in atransmission rate two times faster for the anchors covering the rightside of the space.

FIG. 29 shows an illustrative transmission schedule 2900 of localizationsignals in accordance with some embodiments of the present disclosure.Schedule 2900 represents a more sophisticated transmission schedule forlocalization system 2500 of FIG. 25 that accomplishes the desiredpositioning performance reflected in performance map 2810 of FIG. 28.Schedule 2900 comprises 9 rows of information. Row 1 indicates timeslots. Rows 2-5 indicate the transmission parameters for a set first setof localization signals that are to be transmitted according to theschedule and rows 6-9 indicate the transmission parameters for a secondset of localization signals that are to be transmitted according to theschedule. Rows 2 and 6 identify the anchors. Rows 3 and 7 identify thetransmission carrier frequency. Rows 4 and 8 indicate the preamble code.Rows 5 and 9 indicate the transmission power. Accordingly, schedule 2900differs from the previous exemplary schedules in that it not onlyspecifies the anchor transmission order, but it also specifiesadditional transmission parameters such as carrier frequency, preamblecode, and transmission power. The goal of schedule 2900 is to achievehigh performance in the high performance region with little performanceimpact on the low performance region.

Schedule 2900 can be considered to have two sub-schedules that are timesynchronized. Row 1 shows the time slots in which the sub-schedules areorganized. Rows 2-5 can be considered to make up the first sub-schedule,which is the optimized sequence discussed above for FIG. 25. Rows 6-9can be considered to make up the second sub-schedule, which definesadditional transmissions for the anchors surrounding the highperformance region. In this configuration, the first sub-scheduleachieves uniform coverage in the entire space and the secondsub-schedule increases the positioning performance in the highperformance region.

During time slot T1, anchor A transmits a signal at the same time asanchor E. Because the two anchors transmit on different frequencies, aself-localizing apparatus can select to receive from either anchor A oranchor E to optimize its localization performance based on its position.This can be achieved by having the self-localizing apparatus receivedata representative of the possible choices of anchors transmitting atthat time slot. The data may be received from a remote location (e.g.,as part of a payload of an earlier localization signal) or by using atransmission sequence known in advance and retrieving the data from amemory. The selection can be made in real-time (e.g., by computing thepredicted reduction in dilution of precision that could be achieved byreceiving either signal) or precomputed (e.g., stored in memory as a mapof preferred transceivers based on the current position). A similarselection can be performed during time slots T5 and T10, where twodifferent anchors transmit localization signals on differentfrequencies.

During time slot T6, anchor H transmits two signals simultaneously. Thesecond signal is sent out on a frequency different from the first andincludes a longer preamble, which allows for the reception of thissecond signal at greater distance as well as more precise time stamping.The longer preamble of the second signal may cause it to be transmittedduring more than one time slot as illustrated. A self-localizingapparatus can thus select to receive signals from anchors H and Etransmitted during time slots T6 and T7 on frequency 1, or a moreprecisely timestampable signal from anchor H transmitted during bothtime slots T6 and T7 on frequency 2. In this example, anchor H comprisesa pair of transceivers. A similar principle without the need for ananchor having a pair of transceivers is used in time slots T11 and T12.

During time slot T8, anchor G transmits at the same time as anchor C onthe same frequency. In this case, the parameters of anchor C areadjusted such that, to avoid interferences, it transmits at a lowertransmission power and can only be received by devices (includingself-localizing apparatuses and other anchors) that are out of range ofanchor G.

It will be understood that the schedule depicted in FIG. 29 is merelyillustrative and that other variations can be used. In one variation,the first schedule (i.e., rows 2-5) can be changed such that all thetransmissions use a longer preamble length to anticipate thetransmission of the preambles. For example, an anchor configured totransmit during the time slot T_(K) could start the transmission of thepreamble during the last part of time slot T_(K-1). A self-localizingapparatus can thus select to receive the entire preamble or to receiveonly the part of preamble transmitted during time slot T_(K). The firstoption allows for a more precise timestamping of the localization signaltransmitted during time slot T_(K) while the second option allows theself-localizing apparatus to receive both localization signals.

FIG. 30 shows another illustrative transmission schedule 3000 oflocalization signals in accordance with some embodiments of the presentdisclosure. Schedule 3000 represents another sophisticated transmissionschedule. Schedule 3000 specifies even more configuration parametersthan set forth in schedule 2900. Schedule 3000 specifies thetransmission time, anchor mode (i.e., reception or transmission),carrier frequency, preamble code, preamble length, transmission power,and antenna used to receive or transmit. Schedule 3000 specifies theconfiguration parameters of three transceivers (A, B, and C) and isorganized in time slots (T1, T2, T3, T4, and T5).

Anchor A transmits during time slots T1 and T4. Anchor B transmitsduring time slots T2 and T5. Anchor C transmits during time slot T3.When the anchors are not transmitting, they are configured to receivelocalization signals transmitted by other anchors.

Anchor A always operates on frequency F1. Anchor B operates on frequencyF1 during time slots T2, T3, and T5, while it operates on frequency F2during the remaining time slots. Anchor C operates on frequency F1during time slots T1 and T2, while it operates on frequency F2 duringthe remaining time slots. Using different frequencies allows formultiple transmissions at the same time (not represented in schedule3000).

Anchor A always uses preamble code 1. Anchor B uses preamble code 5during time slots T1 and T5, while it uses preamble code 1 during theremaining time slots. Anchor C always uses preamble code 5. Usingdifferent preamble codes allows for multiple transmissions at the sametime (not represented in schedule 3000).

Anchors A and C always transmit localization signals with a preamblelength of 250 microseconds. Anchor B always transmits localizationsignals with a preamble length of 500 microseconds. As mentioned above,a longer preamble length allows for the reception of the localizationsignal at greater distance as well as with more precise time stamping.

Anchor A always transmits localization signals with transmission powerequal to 5 dBm. Anchors B and C always transmit localization signalswith transmission power equal to 0.5 dBm. Using different transmissionpowers allows for transmissions with longer or shorter coverage. Thiscan be used to have simultaneous but not interfering transmissions fromdifferent anchors that use the same frequency and the same preamblecode.

Anchor A always receives and transmits localization signals usingantenna 1. Anchor B always transmits using antenna 1 and always receivesusing antenna 2. Anchor C uses antenna 2 during the first 3 time slotsand antenna 1 during the last 2 time slots. Using different antennasallows for transmissions that have different radiation patterns (i.e.,can reach different regions of the space with different quality of thesignal) and for better reception.

Self-localizing apparatuses can use the knowledge encoded in theschedule to configure their own reception parameters to receive datafrom a specific transmitter. A self-localizing apparatuses can, forexample, select to receive a specific signal to optimize itslocalization performance based on its position.

In some embodiments, anchors can be configured (as part of schedule3000) to receive a specific signal to improve the network clocksynchronization or the propagation of information over the network.

FIG. 31 shows an illustrative flow chart 3100 of logic that may beimplemented on a self-localizing apparatus to configure its receiverbased on a received payload identifying future transmissions inaccordance with some embodiments of the present disclosure.

At step 3102, the self-localizing apparatus may read the raw receiveddata from the digital reception electronics upon the reception of alocalization signal. Such a read process may be implemented using adigital transmission protocol, for example, SPI, I2C, UART, or aparallel digital protocol.

At step 3104, after reading the data, the self-localizing apparatus maydecode the received payload. Decoding may include a number of processingsteps (not shown). For example, such processing may include:deserialization of data, parsing data representative of payload size,parsing data representative of payload type, any other processing steps,or any combination thereof.

At decision 3106, a data integrity check may be performed. For example,a CRC checksum may be verified. If the data integrity check fails (e.g.,if the CRC checksum is not correct), the self-localizing apparatus maydiscard the received data at step 3108 and the process may return tostep 3102. If the integrity check succeeds, the process may proceed todecision 3110.

At decision 3110, the content of the payload may be inspected todetermine whether it contains a payload identifying future transmissionsby positioning anchors. In some embodiments, step 3110 may be the finalstep of pre-processing the payload. If the payload is found not toidentify future transmissions, the process may be terminated at step3112 and return to step 3102. If the payload is found to identify futuretransmissions by positioning anchors, the process may proceed todecision 3114.

At this point, the self-localizing apparatus may carry out steps fordetermining which of the available localization signals is preferable toreceive. For example, this decision may be carried out based on statusinformation provided by the localizer.

At decision 3114, the self-localizing apparatus may determine whetherthe localizer has been successfully initialized (i.e., whether thelocalizer has a current estimated position). If the self-localizingapparatus determines that that the localizer has not been successfullyinitialized, the process may proceed to step 3120. If theself-localizing apparatus determines that that the localizer has beensuccessfully initialized, the process may proceed to step 3116.

At step 3120, when the localizer is not initialized, the self-localizingapparatus may make the decision regarding which signal to receive basedon a backup heuristic. For example, the self-localizing apparatus maydecide to receive signals that provide the broadest coverage todetermine an initial position estimate. The process may then proceed tostep 3122.

At step 3116, when the localizer is initialized, the self-localizingapparatus may perform a first check based on the estimated position ofthe self-localizing apparatus. The position may be compared to thepositions of the positioning anchors that will be transmitting signalsin future time slots. If for some of these anchors, good reception atthe self-localizing apparatus's location will not be possible, then theyare marked as non-preferred signals. In some embodiments, this check mayadditionally account for the orientation of both the anchor antenna andthe self-localizing apparatus antenna to more accurately estimate thereception quality. In some embodiments, the metric for what estimatedreception quality is deemed acceptable may also be adjusted based onother metrics, for example capturing how important the signal would befor the quality of the position estimate.

At step 3118, the localizer's position estimate quality may beinspected. The quality may, for example, be expressed as the currentdilution of precision or as the variance of the position estimate. Basedon the probable range of positions of the self-localizing apparatus, thereduction of uncertainty for each of the candidate localization signalsmay be computed. For example, a simulated version of the futurelocalization signal may be provided to the localizer to evaluate thechange in variance. These evaluations may be carried out for each of thecandidate localization signals, and a metric may then be applied todetermine the preferred localization signal. In some embodiments, such ametric may be the root mean square of the total position variance, thetotal variance within a plane, or the variance along a direction ofparticular importance. The process may then proceed to step 3122.

After the aforementioned steps are carried out, a preferred localizationsignal to be received has been determined. At step 3122, the receiversettings are determined. While the payload may have provided high-levelinformation about the configurations of future localization signals,more low-level receiver settings may typically be required to set up thereception electronics. In some embodiments, these low-level receiversettings may be hardware-dependent settings. For example, thehardware-dependent settings may include at least one of a configurationof phase-locked loops in the reception electronics, the preamble code toscan for during reception, positions of RF switches, other hardwaresetting, or any combination thereof. In some embodiments, the receiversettings may be stored in a memory in the form of a look-up table,allowing the self-localizing apparatus to determine the correctlow-level configuration from the received high-level information.

At step 3124, the low-level receiver configuration may be applied to thereceiver. In some embodiments, applying the configuration may beperformed by writing configuration parameters to registers of thereception electronics through a protocol such as SPI, I2C, or UART. Insome embodiments, applying the configuration may be performed bychanging the value of digital or analog input pins of the transmissionelectronics, for example by changing the state of an output pin of amicrocontroller.

In some embodiments, the status information from the localizer may beused to determine which localization signal to receive. In someembodiments, many other decision criteria may be used for the samepurpose. For example, the decision may be made based on a known plannedmotion of the self-localizing apparatus, based on the signal strength ofreceived localization signals, based on a stored localization signalpriority list, based on other criteria, or on any combination thereof.

It will be understood that the steps and decision elements of flow chart3100 are merely illustrative and that various modifications can be madewithin the scope of this disclosure. For example, in some embodiments,the top portion of flow chart 3100 may be performed independently fromthe bottom portion. For example, logic elements 3102-3112 may beperformed on each received signal while logic elements 3114-2124 mayseparately and repeatedly select what signals to receive. As anotherexample, in some embodiments, logic elements 3102-3112 may not need tobe performed when a self-localizing apparatus stores a schedule of whichanchors are scheduled to transmit localization signals at which times.

FIG. 32 shows an illustrative application of a performance map to anindoor and outdoor environment 3200 in which flying operate inaccordance with some embodiments of the present disclosure. Environmentincludes an indoor area within a building 3210 (e.g., a warehouse) withan access area 3220 through which flying machines 3230 can enter andleave the outdoor area. In this example, two localization systems havebeen installed. One is installed outdoors, while the second is installedindoors.

The required positioning performance is identified in different areas ofthe environment. A landing area 3240 surrounds the landing area offlying machines 3230. Due to tight flight tolerances that may berequired during landing, this area is marked as requiring particularlyhigh positioning performance. A second area 3250 covers the majority ofthe remaining space indoors, and requires a level of localizationperformance that is sufficient for normal safe flight. The remainder ofthe indoor space has no localization performance requirements, becausethe flying machines do not operate in those spaces.

A second area requiring particularly high localization performancesurrounds access area 3220 that connects the indoor and outdoor areasbecause the flight maneuvering space is reduced in this area. Theremaining outdoor area requires normal localization performance in theapproach area to the access area, and no localization performance inother areas.

Additionally, FIG. 32 shows the availability of other localizationmechanisms—in this case, GPS. The availability of such mechanisms mayalso be provided to the scheduler. If the self-localizing apparatus isconfigured to fuse different localization systems (such as the systemsdisclosed herein and GPS) to augment performance, then the scheduler cantake this into account and adjust its localization performancerequirements to achieve the required total positioning performance underthe assumption that the other localization mechanism can be used as asupport tool. For example, GPS may provide sufficient positioningperformance without the localization systems described herein whenflying machines 3230 operate above the building, and the scheduletherefore does not need to account for coverage in that area.

FIG. 32 also shows the application of a bridge anchor, which is usedhere to allow flying machines to seamlessly transition between theindoor localization system and the outdoor localization system.

FIG. 33 also shows two illustrative localization networks 3310, 3320 inaccordance with some embodiments of the present disclosure. Localizationnetwork 3310 partially overlaps with localization network 3320. In someembodiments, localization network 3310 comprises a plurality ofsynchronized anchors and localization network 3320 comprises a pluralityof synchronized anchors. However, because localization networks 3310,3320 are different networks, they may not be synchronized with respectto each other. Therefore, a self-localizing apparatus may havedifficulty in moving between localization networks 3310, 3320. Toaddress this problem, one or more bridge anchors may be used to enable aself-localizing apparatus to switch from one network to the other. Asillustrated, two bridge anchors 3330 are located in the area of overlapbetween the two networks.

FIG. 34 is a block diagram of an illustrative bridge anchor that isconfigured to allow the synchronization of two localization systems(e.g., localization networks 3310, 3320) in accordance with someembodiments of the present disclosure. When two separate localizationsystems are used in the vicinity of each other, self-localizingapparatus that switch from receiving signals of the first system toreceiving signals of the second system (e.g., because they moved from alocation where the first system provides better performance to one wherethe second system provides better performance) would normally berequired to re-initialize their localization unit to identify the timinginformation of the second localization system and then determine itsposition again. This would produce a black-out period during which no(or only degraded) localization is available as the self-localizingapparatus switches from one network to the next. The bridge transceivershown in FIG. 34 allows the synchronization of the timing informationbetween two neighboring networks, such that a self-localizing apparatusis able to switch between networks while keeping its local timinginformation as if it was still receiving localizing signals from thefirst network.

Like some of the anchors disclosed herein, this bridge anchor contains aclock 210, a scheduling unit 218 a, digital transmission electronics 216a, analog transmission electronics 214 a, antenna 212 a, analogreception electronics 220 a, and digital reception electronics 222 a.These components are used for the bridge anchor to communicate with, andprovide localization signals on, the first localization system.

To enable the bridge functionality, the bridge anchor in this embodimentincludes a second set of some of the components used for the firstlocalization system. Specifically, the bridge anchor here additionallyincludes scheduling unit 218 b, digital transmission electronics 216 b,analog transmission electronics 214 b, antenna 212 b, analog receptionelectronics 220 b, and digital reception electronics 224 b. Theseadditional components are configured to receive and transmit signals ofthe second localization system.

The bridge anchor in this embodiment also includes synchronization unit224 a coupled to digital reception electronics 222 a and clock 210.Synchronization unit 224 a determines timing information of the firstlocalization system. The bridge anchor here also includes asynchronization unit 224 b to likewise determine timing information ofthe second localization system. In addition, synchronization unit 224 breceives timing information of synchronization unit 224 a to compare thetiming information from the two localization systems. Synchronizationunit 224 b is coupled to scheduling unit 218 b and can adjust thescheduling operation of the second localization system by at least oneof (1) adjusting the scheduling of the second localization system suchthat it is steered towards being in synchrony with the scheduling of thefirst localization system and (2) including information in thetransmission payload that causes the anchors in the second localizationsystem to adjust their timing to the first localization system. Thetiming information referred to in this context could, for example, bethe apparent clock rate of the localization system, the apparent clockoffset, or the apparent clock skew.

FIG. 35 is a block diagram of another illustrative bridge anchor that isconfigured to enable seamless transition of a self-localizing apparatusfrom one localization system to another in accordance with someembodiments of the present disclosure. Unlike the bridge anchor of FIG.34, the bridge anchor of FIG. 35 does not share common timinginformation between two localization systems to synchronize them to eachother. Therefore, the bridge anchor of FIG. 35 is required to enableseamless transition between two unsynchronized localization systems. Thedifficulty that causes a self-localization apparatus to have temporarilyunavailable (or reduced performance) localization is that, to providemeaningful localization data, the self-localization apparatus needs toidentify the timing of the second localization system when the localizeris reinitialized. The bridge transceiver shown in FIG. 35 allows theself-localization apparatus to quickly switch from a first to a secondlocalization system by hot-starting its localizer afterre-initialization, using additional timing information from the secondlocalization system.

To achieve this, the bridge transceiver of FIG. 35 includes analogreception electronics 220 and digital reception electronics 222, coupledto antenna 212, which receives signals from the second localizationsystem. Digital transmission electronics 216 and analog transmissionelectronics 214 are configured to transmit signals with theconfiguration of the first localization system. The reception andtransmission electronics share a clock 210. The signals received fromdigital reception electronics 222 are provided to synchronization unit224, which identifies the timing information of the received signals(which are signals from the second localization system). The identifiedtiming information is sent to scheduling unit 218, which can include theidentified timing information in the payload transmitted on the firstlocalization system. A self-localizing apparatus receiving signals fromthe first localization system can decode this timing information andmay, as it switches from the first to the second localization system,use the timing information to hot-start the localizer for the secondlocalization system.

According to one aspect of the present disclosure, a localization systemis provided that comprises a plurality of positioning anchors configuredto wirelessly transmit localization signals. The localization signalsmay be capable of being used by self-localizing apparatus within aregion to determine position information. For example, a self-localizingapparatus may use the localization signals to determine its own positionwithin a defined three dimensional region.

In some embodiments, the plurality of the positioning anchors maycomprise a first positioning anchor, a second positioning anchor, and athird positioning anchor. The first positioning anchor may be configuredto wirelessly transmit first localization signals. The secondpositioning anchor may be configured to wirelessly transmit secondlocalization signals. The third positioning anchor may be configured towirelessly transmit third localization signals.

In some embodiments, each of the plurality of positioning anchors may becommunicatively coupled to a scheduling unit. In some embodiments, thescheduling unit may be configured to schedule the transmission of thelocalization signals. For example, the scheduling unit may schedule thetransmission of the first localization signals, second localizationsignals, and third localization signals. In some embodiments, thescheduling unit may schedule the transmission of the localizationsignals to control positioning performance. For example, the schedulingunit may schedule the first positioning anchor to transmit the firstlocalization signals at a first transmission rate, schedule the secondpositioning anchor to transmit the second localization signals at asecond transmission rate, and schedule the third positioning anchor totransmit the third localization signals at a third transmission rate. Insome embodiments, the first transmission rate may be greater than thesecond transmission rate. In some embodiments, the first transmissionrate, the second transmission rate, and the third transmission rates maybe selected to provide greater positioning performance within a portionof the region.

In some embodiments, the scheduling unit may be configured to adjust thetransmission rate of either of the first, second, and third localizationsignals, or any combination thereof in order to change the positioningperformance within the region during operation. In some embodiments, thescheduling unit may be configured to receive location of theself-localizing apparatus and/or the flight pattern of theself-localizing apparatus. In some embodiments, the scheduling unit maybe configured to adjust the transmission rates based on a known locationof the self-localizing apparatus. In some embodiments, the schedulingunit may be configured to adjust the transmission rates based on a knownmotion of the self-localizing apparatus (e.g., a flight pattern).

In some embodiments, each of the first, second, and third localizationsignals may comprise ultra-wideband (UWB) localization signals. Each ofthe UWB localization signals may comprise a preamble code and a payload.In some embodiments, some of the UWB localization signals may comprise apayload that comprises commands. In some embodiments, the schedulingunit may be configured to schedule the transmission of the UWBlocalization signals to optimize the propagation of the commands to atleast one of a self-localizing apparatus and the plurality of theanchors.

In some embodiments, each of the plurality of positioning anchors maycomprise a clock. In some embodiments, some of the UWB localizationsignals may comprise a payload that comprises synchronization data. Eachof the plurality of positioning anchors may be configured to receive thesynchronization data from UWB localization signals received from atleast one other positioning anchor. In some embodiments, the at leastone scheduling unit may be configured to schedule the transmission ofthe UWB localization signals to optimize the synchronization of theclocks.

In some embodiments, the optimization for the synchronization of theclocks may be performed by including an objective function or aconstraint that may representative of the clock synchronizationperformance. For example, such an optimization may incorporate a modelthat predicts the timestamping variability in dependence ofenvironmental effects, with the objective being to achieve highcommunication rates between anchors that have low timestampingvariability.

In some embodiments, each of the plurality of positioning anchors maycomprise a synchronization unit, wherein each synchronization unit maybe configured to compute a correction for at least one of a clock offsetand a clock rate for its respective clock based on the receivedsynchronization data.

In some embodiments, the scheduling unit may be configured to schedulethe transmission of the localization signals to increase at least one ofprecision, accuracy, or update rate in one or more portions of theregion. In some embodiments, the scheduling unit may be configured toschedule the transmission of the localization signals based on timeslots in a schedule. In some embodiments, the first positioning anchormay be assigned more time slots in the schedule than the secondpositioning anchor.

In some embodiments, the scheduling unit may comprise a first schedulingunit, a second scheduling unit, and a third scheduling unit. The firstscheduling unit may be physically coupled to the first positioninganchor and may be configured to schedule the transmission of the firstlocalization signals. The second scheduling unit may be physicallycoupled to the second positioning anchor and may be configured toschedule the transmission of the second localization signals. The thirdscheduling unit may be physically coupled to the third positioninganchor and may be configured to schedule the transmission of the thirdlocalization signals.

In some embodiments, a method for transmitting localization signals in alocalization system is provided. In some embodiments, the localizationsystem may comprise a plurality of positioning anchors.

In some embodiments, the method may comprise a first positioning anchorof the plurality of positioning anchors wirelessly transmitting firstlocalization signals during two or more time slots of a transmissionschedule. The method may further comprise a second positioning anchor ofthe plurality of positioning anchors wirelessly transmitting secondlocalization signals during one or more time slots of the transmissionschedule. The method may further comprise a third positioning anchor ofthe plurality of positioning anchors wirelessly transmitting thirdlocalization signals during one or more time slots of the transmissionschedule.

In some embodiments, the first localization signals, the secondlocalization signals, and the third localization signals may be capableof being used by self-localizing apparatus within a region to determineposition information. The first positioning anchor may be assigned moretime slots in the transmission schedule than the second positioninganchor to provide greater positioning performance within a portion ofthe region.

In some embodiments, the method may comprise one or more schedulingunits adjusting the number of time slots the first positioning anchor,the second positioning anchor, and the third positioning anchor areassigned in the transmission schedule during operation. In someembodiments, the method may comprise wirelessly receiving the knownlocation of the self-localizing apparatus. In some embodiments, thenumber of time slots may be adjusted based on a known location of theself-localizing apparatus.

In some embodiments, the time slots of the transmission schedule may beassigned based on one or more of: a known location of theself-localizing apparatus; optimization of propagation of commandscomprised as part of at least some of the first, second, and thirdlocalization signals; optimization of synchronization of clocksassociated with the first, second, and third positioning anchors, and atleast one of improved precision, accuracy, or update rate in one or moreportions of the region.

In some embodiments, the method may further comprise generating, using afirst clock, first timing signals used to determine when the firstpositioning anchor wirelessly transmits the first localization signals.The method may further comprise generating, using a second clock, secondtiming signals used to determine when the second positioning anchorwirelessly transmits the second localization signals. The method mayfurther comprise generating, using a third clock, a third timing signalused to determine when the third positioning anchor wirelessly transmitsthe third localization signals, wherein the first, second, and thirdclocks are synchronized.

According to another aspect of the present disclosure, a localizationsystem is provided that comprises a plurality of positioning anchorsthat may be configured to wirelessly transmit localization signalscapable of being used by self-localizing apparatus within a region todetermine position information. In some embodiments, the region maycomprise a three-dimensional region.

In some embodiments, the localization system may further comprise atleast one scheduling unit. The at least one scheduling unit may becommunicatively coupled to the plurality of positioning anchors. In someembodiments, the at least one scheduling unit may be configured toschedule the transmission of the localization signals according to afirst transmission schedule. The first transmission schedule may definea first temporal order for each of the plurality of positioning anchorsto transmit the localization signals. In some embodiments, thelocalization signals may comprise ultra-wideband (UWB) localizationsignals. In some embodiments, each of the localization signals maycomprise a preamble code and a payload.

In some embodiments, the at least one scheduling unit may be configuredto determine when to change from the first transmission schedule to asecond transmission schedule. The second transmission schedule maydefine a second temporal order for each of the plurality of positioninganchors to transmit localization signals. The second transmissionschedule may define a second transmitter (TX) or receiver (RX) mode foreach of the plurality of positioning anchors. In some embodiments, thesecond temporal order may be different than the first temporal order. Insome embodiments, the second temporal order may be identical to thefirst temporal order.

In some embodiments, the at least one scheduling unit may be configuredto determine when to restart a transmission schedule. In someembodiments, the at least one scheduling unit may be configured to startor restart a transmission schedule from a specific time (i.e., theschedule does not start or restart from the schedule's beginning). Insome embodiments, the first transmission schedule and the secondtransmission schedule may provide at least one of increased precision,accuracy, and update rate in different portions of the region.

In some embodiments, the at least one scheduling unit may be configuredto schedule, in response to a determination to change from the firsttransmission schedule to the second transmission schedule, thetransmission of the localization signals according to the secondtransmission schedule. In some embodiments, the change from the firsttransmission schedule to the second transmission schedule may change thepositioning performance within the region.

In some embodiments, the at least one scheduling unit may be configuredto receive the known location of the self-localizing apparatus and/or aflight pattern of the self-localizing apparatus. In some embodiments,the at least one scheduling unit may be configured to determine when tochange from the first transmission schedule to a second transmissionschedule based on a known location of the self-localizing apparatus. Insome embodiments, the at least one scheduling unit may be configured todetermine when to change from the first transmission schedule to asecond transmission schedule based on user input. In some embodiments,the at least one scheduling unit may be configured to determine when tochange from the first transmission schedule to a second transmissionschedule based on a known motion of the self-localizing apparatus.

In some embodiments, the payload of at least some of the UWBlocalization signals may comprise commands. In some embodiments, the atleast one scheduling unit may be configured to change from the firsttransmission schedule to the second transmission schedule to optimizethe propagation of the commands to at least one of a self-localizingapparatus and the plurality of the anchors.

In some embodiments, each of the plurality of positioning anchors maycomprise a clock. In some embodiments, the payload of at least some ofthe UWB localization signals may comprise synchronization data. Each ofthe plurality of positioning anchors may be configured to receive thesynchronization data from UWB localization signals received from atleast one other positioning anchor. The at least one scheduling unit maybe configured to change from the first transmission schedule to thesecond transmission schedule to optimize for the synchronization of theclocks.

In some embodiments, each of the plurality of positioning anchors maycomprise a synchronization unit. Each synchronization unit may beconfigured to compute a correction for at least one of a clock offsetand a clock rate for its respective clock based on the receivedsynchronization data.

In some embodiments, the first transmission schedule and the secondtransmission schedule may each comprise a plurality of time slots. Insome embodiments, at least one positioning anchor of the plurality ofpositioning anchors may be assigned a different number of time slots inthe first transmission schedule and the second transmission schedule. Insome embodiments, at least one positioning anchor of the plurality ofpositioning anchors may be assigned a different transmitter (TX) mode orreceiver (RX) mode. In some embodiments, at least one positioning anchorof the plurality of positioning anchors may be assigned a differenttransmitter (TX) mode or receiver (RX) mode in the first transmissionschedule and the second transmission schedule.

In some embodiments, the at least one scheduling unit may comprise aplurality of scheduling units. In some embodiments, each of theplurality of scheduling units may be physically coupled to a respectiveone of the plurality of positioning anchors. In some embodiments, eachof the plurality of scheduling units may be configured to schedule thetransmission of localization signals for its respective positioninganchor according to the time slots assigned to its respectivepositioning anchor.

In some embodiments, a method for transmitting localization signals in alocalization system is provided. In some embodiments, the localizationsystem may comprise a plurality of positioning anchors.

In some embodiments, the method may comprise using the plurality ofpositioning anchors to wirelessly transmit localization signals capableof being used by self-localizing apparatus within a region to determineposition information. In some embodiments, the method may furthercomprise using at least one scheduling unit communicatively coupled tothe plurality of positioning anchors to schedule the transmission of thelocalization signals according to a first transmission schedule. In someembodiments, the first transmission schedule may define a first temporalorder for each of the plurality of positioning anchors to transmit thelocalization signals.

In some embodiments, the method may further comprise using the at leastone scheduling unit to determine when to change from the firsttransmission schedule to a second transmission schedule. In someembodiments, the second transmission schedule may define a secondtemporal order for each of the plurality of positioning anchors totransmit localization signals. The second transmission schedule maydefine a second transmitter (TX) or receiver (RX) mode for each of theplurality of positioning anchors. In some embodiments, the secondtemporal order may be different than the first temporal order.

In some embodiments, the method may further comprise using the at leastone scheduling unit to schedule, in response to a determination tochange from the first transmission schedule to the second transmissionschedule, the transmission of the localization signals according to thesecond transmission schedule. In some embodiments, such scheduling maychange the positioning performance within the region.

In some embodiments, the localization signals may compriseultra-wideband (UWB) localization signals. In some embodiments, eachlocalization signal may comprise a preamble code and a payload. In someembodiments, the payload of at least some of the UWB localizationsignals may comprise commands. In some embodiments, the method mayfurther comprise changing the at least one scheduling unit from thefirst transmission schedule to the second transmission schedule tooptimize the propagation of the commands to at least one of aself-localizing apparatus and the plurality of the anchors.

In some embodiments, each of the plurality of positioning anchors maycomprise a clock. In some embodiments, the payload of at least some ofthe UWB localization signals may comprise synchronization data. In someembodiments, the method may further comprise using each of the pluralityof positioning anchors to receive synchronization data from UWBlocalization signals from at least one other positioning anchor. In someembodiments, the method may further comprise changing the at least onescheduling unit from the first transmission schedule to the secondtransmission schedule to optimize for the synchronization of the clocks.

In some embodiments, each of the plurality of positioning anchors maycomprise a synchronization unit. In some embodiments, the method mayfurther comprise using each synchronization unit to compute, acorrection for at least one of a clock offset and a clock rate for itsrespective clock based on the received synchronization data.

In some embodiments, the first transmission schedule and the secondtransmission schedule may provide at least one of increased precision,accuracy, and update rate in different portions of the region.

In some embodiments, the first transmission schedule and the secondtransmission schedule may each comprise a plurality of time slots. Insome embodiments, the method may further comprise assigning a differentnumber of time slots in the first transmission schedule and the secondtransmission schedule to at least one positioning anchor of theplurality of positioning anchors.

In some embodiments, the first transmission schedule and the secondtransmission schedule may each comprise a plurality of time slots. Insome embodiments, the at least one scheduling unit may comprise aplurality of scheduling units. In some embodiments, each of theplurality of schedule units may be physically coupled to a respectiveone of the plurality of positioning anchors. In some embodiments, themethod may further comprise using each of the plurality of schedulingunits to schedule the transmission of localization signals for itsrespective positioning anchor according to the time slots assigned toits respective positioning anchor.

According to another aspect of the present disclosure, a system fordetermining a transmission schedule for a localization system isprovided. In some embodiments, the localization system may comprise aplurality of positioning anchors configured to wirelessly transmitlocalization signals. The plurality of positioning anchors may be usedfor determining position information within a region.

In some embodiments, the system may comprise an input. The input may beoperable to receive: locations of the plurality of positioning anchors,at least one anchor property of the plurality of positioning anchors,and desired positioning performance within at least one zone within theregion.

In some embodiments, the system may comprise at least one processor. Theat least one processor may be configured to determine the transmissionschedule for the plurality of anchors based on (a) the locations of theplurality of positioning anchors, (b) the at least one anchor propertyof the plurality of positioning anchors, and (c) the desired positioningperformance within the at least one zone. In some embodiments, theplurality of positioning anchors may be configured to wirelesslytransmit the localization signals according to the transmissionschedule.

In some embodiments, the system may comprise an output operable tocommunicate the transmission schedule to the plurality of positioninganchors.

In some embodiments, the desired positioning performance within a firstof the at least one zone may be greater than the desired positioningperformance within a second of the at least one zone. In someembodiments, the determined transmission schedule may be determined toprovide greater positioning performance within the first zone. In someembodiments, the at least one zone may cover the region.

In some embodiments, the at least one processor may be configured todetermine the transmission schedule by predicting positioningperformance within the at least one zone based on the locations of theplurality of positioning anchors and the at least one anchor property ofthe plurality of positioning anchors; and comparing the predictedpositioning performance to the desired positioning performance withinthe at least one zone.

In some embodiments, the at least one anchor property may comprisetransmission power levels. In some embodiments, the at least oneprocessor may be further configured to determine transmission powerlevels for the transmission schedule. In some embodiments, thetransmission schedule may indicates the power level each positioninganchor may be scheduled to use for transmitting its localizationsignals.

In some embodiments, the at least one anchor property may comprisetransmission center frequencies. In some embodiments, the at least oneprocessor may be further configured to determine transmission centerfrequencies for the transmission schedule. In some embodiments, thetransmission schedule may indicates the transmission center frequencyeach positioning anchor may be scheduled to use for transmitting itslocalization signals.

In some embodiments, the at least one anchor property may comprisetransmission frequency bandwidths. In some embodiments, the at least oneprocessor may be further configured to determine transmission frequencybandwidths for the transmission schedule. In some embodiments, thetransmission schedule may indicate the transmission frequency bandwidtheach positioning anchor may be scheduled to use for transmitting itslocalization signals.

In some embodiments, the at least one anchor property may comprisepreamble codes. In some embodiments, the at least one processor may befurther configured to determine preamble codes for the transmissionschedule. In some embodiments, the transmission schedule may indicatethe preamble code scheduled to be used with each localization signal.

In some embodiments, the at least one anchor property may comprisepreamble modulation schemes. In some embodiments, the at least oneprocessor may be further configured to determine the preamble modulationschemes for the transmission schedule. In some embodiments, thetransmission schedule may indicate the preamble modulation schemescheduled to be used with each localization signal.

In some embodiments, the at least one anchor property may comprisepreamble length. In some embodiments, the at least one processor may befurther configured to determine the preamble lengths for thetransmission schedule. In some embodiments, the transmission schedulemay indicate the preamble lengths scheduled to be used with eachlocalization signal.

In some embodiments, the transmission schedule may comprise a pluralityof time slots. In some embodiments, the at least one processor may befurther configured to assign one or more localization signals to each ofthe plurality of time slots.

In some embodiments, the at least one processor may be furtherconfigured to determine an amount of overlap of the plurality of timeslots of the transmission schedule. In some embodiments, the amount ofoverlap of the plurality of time slots may be fixed. In someembodiments, the amount of overlap of the plurality of time slots may bevariable. In some embodiments, the at least one processor may beconfigured to determine the transmission schedule by determining atemporal order for the plurality of positioning anchors to wirelesslytransmit the localization signals.

In some embodiments, the at least one processor may be configured todetermine the transmission schedule by determining transmission ratesfor the plurality of positioning anchors to wirelessly transmit thelocalization signals.

In some embodiments, the transmission schedule may comprise a pluralityof time slots. In some embodiments, the at least one processor may befurther configured to assign more time slots to a positioning anchorwith a higher transmission rate than to a positioning anchor with alower transmission rate.

In some embodiments, the at least one processor may be configured todetermine the transmission schedule by using an optimization algorithm.In some embodiments, the at least one processor may be configured todetermine the transmission schedule by minimizing a cost function.

In some embodiments, the input may be further operable to receivereal-time positioning information of self-localizing apparatus withinthe region. In some embodiments, the at least one processor may befurther configured to determine an updated transmission schedule basedon the real-time positioning information. In some embodiments, thereal-time positioning information may be received from memory of thesystem. In some embodiments, the desired positioning performance naycomprises a flight pattern.

In some embodiments, a method for determining a transmission schedulefor a localization system is provided. In some embodiments, thelocalization system may comprise a plurality of positioning anchorsconfigured to wirelessly transmit localization signals that may be usedfor determining position information within a region.

In some embodiments, the method may comprise using an input to receivelocations of the plurality of positioning anchors, at least one anchorproperty of the plurality of positioning anchors, and desiredpositioning performance within at least one zone within the region.

In some embodiments, the method may further comprise using at least oneprocessor to determine the transmission schedule for the plurality ofanchors based on (a) the locations of the plurality of positioninganchors, (b) the at least one anchor property of the plurality ofpositioning anchors, and (c) the desired positioning performance withinthe at least one zone, wherein the plurality of positioning anchors areconfigured to wirelessly transmit the localization signals according tothe transmission schedule. In some embodiments, the method may furthercomprise using an output to communicate the transmission schedule to theplurality of positioning anchors.

In some embodiments, the method may further comprise using the at leastone processor to predict positioning performance within the at least onezone based on the locations of the plurality of positioning anchors andthe at least one anchor property of the plurality of positioninganchors. The method may further comprise using the at least oneprocessor to compare the predicted positioning performance to thedesired positioning performance within the at least one zone.

In some embodiments, the at least one anchor property may comprisetransmission power levels. The method may further comprise using atleast one processor to determine transmission power levels for thetransmission schedule. In some embodiments, the transmission schedulemay indicate the power level each positioning anchor may be scheduled touse for transmitting its localization signals.

According to another aspect of the present disclosure, a localizationsystem may comprise a plurality of positioning anchors configured towirelessly transmit localization signals during time slots of atransmission schedule. In some embodiments, each localization signal maycomprise a payload. In some embodiments, the payload for eachlocalization signal may identify at least one positioning anchor of theplurality of positioning anchors configured to transmit a localizationsignal during at least one future time slot.

In some embodiments, a localization system may comprise a plurality ofpositioning anchors configured to wirelessly transmit wireless signalsduring time slots of a transmission schedule. In some embodiments, eachwireless signal may comprise a payload. In some embodiments, the payloadfor each wireless signal may identify a configuration for a transmitter(TX) mode or a configuration for a receiver (RX) mode of at least onepositioning anchor of the plurality of positioning anchors configured totransmit or receive a localization or wireless signal during at leastone future time slot. In some embodiments, the payload may only identifya configuration for a TX mode and the anchor may determine its RX modes.

In some embodiments, the localization system may comprise aself-localizing apparatus. In some embodiments, the self-localizingapparatus may comprise a receiver. The self-localizing apparatus may beconfigured to receive at least some of the localization signal, extractthe payload of the received localization signals. The self-localizingapparatus may be further configured to determine, based on the extractedpayload of the received localization signals, which localization signalsto receive for determining positioning information of theself-localizing apparatus. The self-localizing apparatus may beconfigured to configure the receiver based on the determinedlocalization signals. The self-localizing apparatus may be furtherconfigured to receive, using the configured receiver, the determinedlocalization signals, and determine the positioning information of theself-localizing apparatus based on the received determined localizationsignals.

In some embodiments, each localization signal may comprise a headerportion and a payload portion. In some embodiments, the header portionmay be a preamble. In some embodiments, the localization signals maycomprise a first subgroup and a second subgroup. In some embodiments,the first subgroup and the second subgroup may comprise at least onedifferent transmission characteristic. In some embodiments, the at leastone different transmission characteristic may comprise at least one oftransmission center frequency, transmission frequency bandwidth,preamble code, and preamble modulation scheme. In some embodiments, alocalization signal from the first subgroup and a localization signalfrom the second subgroup may both be scheduled for transmission duringthe same time slot of the transmission schedule.

In some embodiments, the self-localizing apparatus may be configured todetermine which localization signals to receive based on statusinformation. In some embodiments, the status information may comprise acurrent position of the self-localizing apparatus. In some embodiments,the status information may comprise variance information associated witha localization estimator of the self-localizing apparatus.

In some embodiments, the self-localizing apparatus may be configured todetermine which localization signals to receive to minimize varianceassociated with the localization estimator.

In some embodiments, the payload for each localization signal mayidentify two positioning anchors of the plurality of positioning anchorsconfigured to transmit localization signals during the same future timeslot. In some embodiments, the payload for each localization signal mayidentify at least one positioning anchor of the plurality of positioninganchors configured to transmit a localization signal during each of atleast two future time slots.

In some embodiments, a localization method is provided. The method maycomprise using a plurality of positioning anchors to wirelessly transmitlocalization signals during time slots of a transmission schedule. Insome embodiments, each localization signal may comprise a payload. Insome embodiments, the payload for each localization signal may identifyat least one positioning anchor of the plurality of positioning anchorsconfigured to transmit a localization signal during at least one futuretime slot.

The method may comprise using a self-localizing apparatus to receive atleast some of the localization signals, extract the payload of thereceived localization signals, and determine which localization signalsto receive for determining positioning information of theself-localizing apparatus based on the extracted payload of the receivedlocalization signals. In some embodiments, the method may compriseconfiguring the receiver of the self-localizing apparatus based on thedetermined localization signals. In some embodiments, the method mayfurther comprise using the configured receiver to receive the determinedlocalization signals, and determine the positioning information.

In some embodiments, the localization signals may comprise a firstsubgroup and a second subgroup, wherein the first subgroup and thesecond subgroup comprise at least one different transmissioncharacteristic.

In some embodiments, the at least one different transmissioncharacteristic comprises at least one of transmission center frequency,transmission frequency bandwidth, preamble code, and preamble modulationscheme. In some embodiments, a localization signal from the firstsubgroup and a localization signal from the second subgroup may both bescheduled for transmission during the same time slot of the transmissionschedule.

In some embodiments, the method may further comprise using theself-localizing apparatus to determine which localization signals toreceive based on status information. In some embodiments, the statusinformation may comprise current position of the self-localizingapparatus. In some embodiments, the status information nay comprisevariance information associated with a localization estimator of theself-localizing apparatus.

In some embodiments, the method may further comprise using theself-localizing apparatus to determine which localization signals toreceive to minimize variance associated with the localization estimator.

In some embodiments, the payload for each localization signal mayidentify two positioning anchors of the plurality of positioning anchorsconfigured to transmit localization signals during the same future timeslot. In some embodiments, the payload for each localization signal mayidentify at least one positioning anchor of the plurality of positioninganchors configured to transmit a localization signal during each of atleast two future time slots.

According to another aspect of the present disclosure, a localizationsystem is provided that comprises a first localization networkconfigured to wirelessly transmit first localization signals using afirst set of time synchronized anchors. In some embodiments, the firstlocalization signals may be usable to determine position informationwithin a first region.

In some embodiments, the localization system may further comprise asecond localization network configured to wirelessly transmit secondlocalization signals using a second set of time synchronized anchors. Insome embodiments, the second localization signals may be usable todetermine position information within a second region.

In some embodiments, the localization system may further comprise abridge anchor. In some embodiments, the bridge anchor may be configuredto receive first time synchronization information related to the firstset of time synchronized anchors. The bridge anchor may be configured toreceive second time synchronization information related to the secondset of time synchronized anchors, transmit time synchronizationinformation related to the first time synchronization information to thesecond localization network. In some embodiments, the timesynchronization information may comprise at least one of a clock offsetand a clock rate of the first localization network.

In some embodiments, the second localization network may be configuredto adjust at least one of a clock offset and a clock rate based on thereceived time synchronization information to time synchronize the secondlocalization network with the first localization network.

In some embodiments, the bridge anchor may be configured to transmit thetime synchronization information wirelessly. In some embodiments,wherein at least one anchor of the second localization network may beconfigured to wirelessly receive the time synchronization information.

In some embodiments, the bridge anchor may be further configured totransmit time synchronization information related to the second timesynchronization information to the first localization network.

In some embodiments, the bridge anchor may be configured to transmit thetime synchronization information wirelessly to a self-localizingapparatus of the first localization network to enable theself-localizing apparatus to determine its position using the firstlocalization network and second localization network.

In some embodiments, the self-localizing apparatus may be configured toswitch between receiving localization signals from the firstlocalization network and localization signals from the secondlocalization network based on the received time synchronizationinformation. In some embodiments, the switching may be achieved byreconfiguring the receiver of the self-localizing apparatus. In someembodiments, the signals transmitted by the bridge anchor may comprise apayload representative of the receiver configuration for at least one ofthe two localization networks. In some embodiments, the self-localizingapparatus may reconfigure its receiver based on the payload receivedfrom the bridge anchor.

In some embodiments, the bridge anchor may be further configured towirelessly transmit one or more of the second localization signals. Insome embodiments, the one or more of the second localization signals mayeach comprise a preamble and a payload. In some embodiments, the payloadof the one or more of the second localization signals may comprise thetime synchronization information.

In some embodiments, the localization system of claim may furthercomprising a self-localizing apparatus. In some embodiments, theself-localizing apparatus may be configured to receive the secondlocalization signals, and determine position information based on thereceived second localization signals. In some embodiments, theself-localizing apparatus may be configured to configure its receiver toreceive the first localization signals, and determine positioninformation based on the received first localization signals.

In some embodiments, the self-localizing apparatus may be furtherconfigured to receive time synchronization information from the bridgeanchor. In some embodiments, the determining position information may bebased on the received first localization signals may be further carriedout in dependence of the time synchronization information from thebridge anchor.

In some embodiments, the self-localizing apparatus may be configured toreceive one or more of the first localization signals from the firstlocalization network, receive the one or more of the second localizationsignals from the bridge anchor, and receive one or more of the secondlocalization signals from the second localization network. In someembodiments, the self-localizing apparatus may be further configured todetermine position information based on the one or more firstlocalization signals received from the first localization network, theone or more of the second localization signals received from the secondlocalization network, and the time synchronization information receivedfrom the bridge anchor.

In some embodiments, the bridge anchor may be configured to alternatelyreceive localization signals from the first localization network and thesecond localization network. In some embodiments, the first region andthe second region at least partially overlap.

In some embodiments, the bridge anchor may configured to determinerelative time information based on the received first timesynchronization information and the received second time synchronizationinformation and wherein the time synchronization information transmittedby the bridge anchor comprises the relative time information.

In some embodiments, the localization system may comprise a firstlocalization network configured to transmit first localization signalsusing a first set of time synchronized anchors. In some embodiments, thefirst localization signals are usable to determine position informationwithin a first region.

In some embodiments, the localization system may comprise a secondlocalization network configured to transmit second localization signalsusing a second set of time synchronized anchors. In some embodiments,the second localization signals are usable to determine positioninformation within a second region. In some embodiments, thelocalization system may comprise a bridge anchor.

In some embodiments, the bridge anchor may be configured to receivefirst time synchronization information related to the first set of timesynchronized anchors, and to receive second time synchronizationinformation related to the second set of time synchronized anchors. Insome embodiments, the bridge anchor may be configured to transmit firstlocalization signals based the received first time synchronizationinformation as part of the first localization network in a first mode ofoperation; and to transmit second localization signals based thereceived second time synchronization information as part of the secondlocalization network in a second mode of operation.

In some embodiments, the bridge anchor may be configured to switchbetween the first mode of operation and the second mode of operationbased on desired positioning performance of at least one of the firstand second localization networks.

In some embodiments, a localization method is provided. In someembodiments, the localization method may comprise using a firstlocalization network to wirelessly transmit first localization signalsusing a first set of time synchronized anchors. The first localizationsignals may be usable to determine position information within a firstregion.

In some embodiments, the localization method may comprise using a secondlocalization network to wirelessly transmit second localization signalsusing a second set of time synchronized anchors. The second localizationsignals may be usable to determine position information within a secondregion.

In some embodiments, the localization method may further comprise usinga bridge anchor to receive first time synchronization informationrelated to the first set of time synchronized anchors, and to receivesecond time synchronization information related to the second set oftime synchronized anchors. The localization method may further compriseusing a bridge anchor to transmit time synchronization informationrelated to the first time synchronization information to the secondlocalization network.

In some embodiments, the localization method may further comprise usingthe bridge anchor to transmit the time synchronization informationwirelessly to a self-localizing apparatus of the first localizationnetwork to enable the self-localizing apparatus to determine itsposition using the first localization network and second localizationnetwork.

In some embodiments, another localization method is provided. In someembodiments, the localization method may comprise using a firstlocalization network to transmit first localization signals using afirst set of time synchronized anchors. The first localization signalsmay be usable to determine position information within a first region.

In some embodiments, the localization method may also comprise using asecond localization network to transmit second localization signalsusing a second set of time synchronized anchors. The second localizationsignals may be usable to determine position information within a secondregion.

In some embodiments, the localization method may further comprise usinga bridge anchor to receive first time synchronization informationrelated to the first set of time synchronized anchors, and to receivesecond time synchronization information related to the second set oftime synchronized anchors.

In some embodiments, the localization method may also comprise using thebridge anchor to wirelessly transmit first localization signals basedthe received first time synchronization information as part of the firstlocalization network in a first mode of operation, and transmittingsecond localization signals based the received second timesynchronization information as part of the second localization networkin a second mode of operation.

According to another aspect of the present disclosure, a localizationsystem is provided that comprises a first anchor configured to transmita first timestampable localization signal. In some embodiments, thefirst timestampable localization signal comprise a preamble followed bya payload.

The localization system may further comprise a second anchor configuredto transmit a second timestampable localization signal. In someembodiments, the second timestampable localization signal may comprise apreamble followed by a payload. In some embodiments, the transmission ofthe second timestampable localization signal may partially overlap withthe transmission of the first timestampable localization signal suchthat the second timestampable localization signal does not overlap thepreamble of the first timestampable localization signal. In someembodiments, the first timestampable localization signal and the secondtimestampable localization signal may be received within a commonregion.

In some embodiments, transmission of the second timestampablelocalization signal may begin before the transmission of firsttimestampable localization signal ends. In some embodiments, thetransmission of the second timestampable localization signal may beginafter the transmission of the first timestampable localization signal'spreamble ends. In some embodiments, the preamble of the secondtimestampable localization signal may overlap with the payload of thefirst timestampable localization signal.

In some embodiments, the preamble of the first timestampablelocalization signal may comprise a first coded preamble. In someembodiments, the preamble of the second timestampable localizationsignal may comprise a second, identically coded preamble.

In some embodiments, the localization system may comprise aself-localizing apparatus. In some embodiments, the self-localizingapparatus may be configured to receive the entire first timestampablelocalization signal or the entire second timestampable localizationsignal, but not the entire first timestampable localization signal andthe entire second timestampable localization signal. In someembodiments, the self-localizing apparatus may be configured to receivethe preamble of the first timestampable localization signal and theentire second timestampable localization signal.

In some embodiments, the first timestampable localization signal mayfurther comprise a start of frame delimiter (SFD) between the preambleand the payload. In some embodiments, the second timestampablelocalization signal may not overlap the SFD of the first timestampablelocalization signal. In some embodiments, the self-localizing apparatusmay be configured to receive the preamble and the SFD of the firsttimestampable localization signal and the entire second timestampablelocalization signal.

In some embodiments, the self-localizing apparatus may be furtherconfigured to determine a timestamp corresponding to the reception ofthe preamble or the SFD of the first localization signal; and determineposition information based on a known transmission time of the firsttimestampable localization signal and the timestamp.

In some embodiments, the payload of the first timestampable localizationsignal may comprise first and second payloads. In some embodiments, thesecond timestampable localization signal may overlap with the secondpayload, but not the first payload, of the first timestampablelocalization signal. In some embodiments, the self-localizing apparatusmay be configured to receive the first payload of the firsttimestampable localization signal and the entire second timestampablelocalization signal.

In some embodiments, the first anchor may be configured to transmit thefirst timestampable localization signal using a transmission centerfrequency and a transmission frequency bandwidth. In some embodiments,the second anchor may be configured to transmit the second timestampablelocalization signal using the transmission center frequency and thetransmission frequency bandwidth.

In some embodiments, the first anchor may be configured to transmit aplurality of first timestampable localization signals. In someembodiments, the second anchor may be configured to transmit a pluralityof second timestampable localization signals. In some embodiments, eachof the plurality of second timestampable localization signals maypartially overlap with a corresponding one of the plurality of firsttimestampable localization signals.

In some embodiments, the localization system may further comprise fouror more anchors. In some embodiments, the four or more anchors maycomprise the first anchor and the second anchor. In some embodiments,the four or more anchors may be configured to transmit timestampablelocalization signals according to a transmission schedule that partiallyoverlaps the transmission of the timestampable localization signals,thereby causing the timestampable localization system to transmit moretimestampable signals per time unit than if the timestampablelocalization signals did not overlap.

In some embodiments, the payload of each of the first and secondtimestampable localization signals identifies when an anchor may beconfigured to transmit a localization signal during a future time slot.

In some embodiments, the self-localizing apparatus may be configured toreceive an identification of when an anchor may be configured totransmit a localization signal during a future time lost, and selectwhich timestampable signal to receive in its entirety based on thereceived identification.

In some embodiments, method for localization is provided. In someembodiments, the method may comprise using a first anchor to transmit afirst timestampable localization signal. In some embodiments, the firsttimestampable localization signal may comprise a preamble followed by apayload.

In some embodiments, the method may further comprise using a secondanchor to transmit a second timestampable localization signal. In someembodiments, the second timestampable localization signal may comprise apreamble followed by a payload. In some embodiments, the transmission ofthe second timestampable localization signal may partially overlap withthe transmission of the first timestampable localization signal suchthat the second timestampable localization signal does not overlap thepreamble of the first timestampable localization signal. In someembodiments, the first timestampable localization signal and the secondtimestampable localization signal may be received within a commonregion.

In some embodiments, the first timestampable localization signal maycomprise a first ultra-wideband (UWB) signal, and the secondtimestampable localization signal may comprise a second UWB signal.

In some embodiments, the first timestampable localization signal mayfurther comprises a start of frame delimiter (SFD) between the preambleand the payload. In some embodiments, the second timestampablelocalization signal may not overlap the SFD of the first timestampablelocalization signal. In some embodiments, the method may furthercomprise using a self-localizing apparatus to receive the preamble andthe SFD of the first timestampable localization signal and the entiresecond timestampable localization signal.

In some embodiments, the method may further comprise using theself-localizing apparatus to determine a timestamp corresponding to thereception of the preamble or the SFD of the first localization signal;and determine position information based on a known transmission time ofthe first timestampable localization signal and the timestamp.

In some embodiments, the payload of the first timestampable localizationsignal may comprise first and second payloads and wherein the secondtimestampable localization signal may overlap with the second payload,but not the first payload, of the first timestampable localizationsignal. In some embodiments, the method may further comprise using aself-localizing apparatus to receive, the first payload of the firsttimestampable localization signal and the entire second timestampablelocalization signal.

According to another aspect of the present disclosure, a method foroperating a localization system is provided. In some embodiments, thelocalization system may comprise a plurality of positioning anchors. Insome embodiments, the method may comprise allocating a first subset ofthe plurality of positioning anchors to a first subnetwork. The methodmay also comprise operating the first subnetwork of the first subset ofpositioning anchors to transmit first localization signals according toa first transmission schedule. In some embodiments, the firstlocalization signals may be used by a self-localizing apparatus todetermine position information within a first geographic region;

The method may also comprise adjusting the allocation of the pluralityof positioning anchors to the first subnetwork such that a second subsetof the plurality of positioning anchors may be allocated to the firstsubnetwork. In some embodiments, at least one positioning anchor of thefirst subset is not included in the second subset and at least onepositioning anchor of the second subset is not included in the firstsubset.

The method may also comprise operating the first subnetwork of thesecond subset of positioning anchors to transmit second localizationsignals according to a second transmission schedule. In someembodiments, the second localization signals may be used by theself-localizing apparatus to determine position information within asecond geographic region. In some embodiments, the first geographicregion and the third geographic region do not overlap.

In some embodiments, the first localization signals may comprise firstultra-wideband (UWB) signals, and the second localization signals maycomprise second UWB signals.

In some embodiments, the method may also comprise allocating a thirdsubset of the plurality of positioning anchors to a second subnetwork,and operating the second subnetwork of the third subset of positioninganchors to transmit third localization signals according to a thirdtransmission schedule. In some embodiments, the third localizationsignals may be used by a self-localizing apparatus to determine positioninformation within a third geographic region.

In some embodiments, the method may also comprise operating the firstsubnetwork and the second subnetwork simultaneously. In someembodiments, the third subset of the plurality of positioning anchorsmay not comprise any of the positioning anchors of the first subset ofthe plurality of positioning anchors.

In some embodiments, the method may also comprise operating the firstsubnetwork of the first subset of the plurality of positioning anchorsand the second subnetwork simultaneously. In some embodiments, the thirdsubset of the plurality of positioning anchors may comprise at least onepositioning anchor of the first subset of the plurality of positioninganchors. In some embodiments, the transmission of the first and thirdlocalization signals may use at least one different transmissioncharacteristic. In some embodiments, the at least one differenttransmission characteristic may comprise at least one of transmissioncenter frequency, transmission frequency bandwidth, preamble code, andpreamble modulation scheme.

In some embodiments, the method may also comprise operating the firstsubnetwork of the first subset of the plurality of positioning anchorsand the second subnetwork simultaneously. In some embodiments, at leastone of the anchors of the first subnetwork may be operated using a lowertransmission power to reduce the size of the first geographic regionsuch that first geographic region and the second geographic region donot overlap.

In some embodiments, the first subnetwork and the second subnetwork maytransmit first and second localization signals using the sametransmission characteristics. In some embodiments, the first and secondlocalization signals may overlap in time.

In some embodiments, the method may also comprise adjusting theallocation of the plurality of positioning anchors to the secondsubnetwork such that a fourth subset of the plurality of positioninganchors may be allocated to the second subnetwork. In some embodiments,at least one positioning anchor of the third subset is not included inthe fourth subset and at least one positioning anchor of the fourthsubset is not included in the third subset.

In some embodiments, the method may also comprise additionally adjustingthe allocation of the plurality of positioning anchors to the firstsubnetwork to dynamically change the geographic region serviced by thefirst subnetwork. In some embodiments, the allocation of the pluralityof positioning anchors to the first subnetwork may be adjusted based ona known motion of at least one self-localizing apparatus serviced by thefirst subnetwork. In some embodiments, the motion may be a flightpattern.

In some embodiments, the method may also comprise receiving a knownlocation of the at least one self-localizing apparatus. In someembodiments, the location may be received from the memory of theself-localizing apparatus. In some embodiments, the received knownlocation retrieved from memory is an expected location of aself-localizing apparatus. In some embodiments, the expected location ispredicted based on a time elapsed since the beginning of a trajectoryexecution. In some embodiments, the use of the first subnetwork in thelocalization system may increase positioning performance within thefirst geographic region.

In some embodiments, a localization system is provided. The localizationsystem may comprise a plurality of positioning anchor. In someembodiments, the localization system may be configured to allocate afirst subset of the plurality of positioning anchors to a firstsubnetwork. The localization system may be configured to operate thefirst subnetwork of the first subset of positioning anchors to transmitfirst localization signals according to a first transmission schedule.In some embodiments, the first localization signals may be used by aself-localizing apparatus to determine position information within afirst geographic region;

The localization system may also be configured to adjust the allocationof the plurality of positioning anchors to the first subnetwork suchthat a second subset of the plurality of positioning anchors may beallocated to the first subnetwork. In some embodiments, at least onepositioning anchor of the first subset is not included in the secondsubset and at least one positioning anchor of the second subset is notincluded in the first subset.

The localization system may also be configured to operate the firstsubnetwork of the second subset of positioning anchors to transmitsecond localization signals according to a second transmission schedule.In some embodiments, the second localization signals may be used by theself-localizing apparatus to determine position information within asecond geographic region.

In some embodiments, the first localization signals may comprise firstultra-wideband (UWB) signals, and the second localization signals maycomprise second UWB signals.

In some embodiments, the localization system may be further configuredto allocate a third subset of the plurality of positioning anchors to asecond subnetwork; and operate the second subnetwork of the third subsetof positioning anchors to transmit third localization signals accordingto a third transmission schedule. In some embodiments, the thirdlocalization signals may be used by a self-localizing apparatus todetermine position information within a third geographic region.

In some embodiments, another localization system is provided. In someembodiments, the localization system may comprise a plurality ofpositioning anchors. In some embodiments, the plurality of positioninganchors may comprise at least a first positioning anchor, a secondpositioning anchor, and a third positioning anchor.

In some embodiments, a first subset of positioning anchors may beconfigured to transmit first localization signals during a first timeperiod according to a first transmission schedule. In some embodiments,the first localization signals may be used by a self-localizingapparatus to determine position information within a first geographicregion. In some embodiments, the first subset of positioning anchors maycomprise the first positioning anchor and the second positioning anchor.In some embodiments, the third positioning anchor may be configured tonot transmit during the first time period.

In some embodiments, a second subset of positioning anchors may beconfigured to transmit second localization signals during a secondsubsequent time period according to a second transmission schedule. Insome embodiments, the second localization signals may be used by theself-localizing apparatus to determine position information within asecond geographic region. In some embodiments, the second subset ofpositioning anchors may comprise the first positioning anchor and thethird positioning anchor. In some embodiments, the second positioninganchor may be configured to not transmit during the second time period.

According to another aspect of the present disclosure, a method foroperating a localization system is provided. In some embodiments, thelocalization system may comprise a plurality of positioning anchors. Insome embodiments, the method may comprise using the plurality ofpositioning anchors to transmit first timestampable localization signalsaccording to a first transmission schedule. In some embodiments, thefirst timestampable localization signals may comprise a first set oftransmission characteristics and wherein the first timestampablelocalization signals may be used by a self-localizing apparatus todetermine position information within a first geographic region.

In some embodiments, the method may further comprise using the pluralityof positioning anchors to transmit second timestampable localizationsignals according to a second transmission schedule. In someembodiments, the second timestampable localization signals may comprisea second set of transmission characteristics. In some embodiments, thesecond timestampable localization signals may be used by theself-localizing apparatus to determine position information within asecond geographic region.

In some embodiments, the first geographic region and the secondgeographic region may at least partially overlap. In some embodiments,at least some of the first timestampable localization signals and thesecond timestampable localization signals may be transmitted such thatthey overlap in time. In some embodiments, at least one type oftransmission characteristic may be different in the first set oftransmission characteristics and the second set of transmissioncharacteristics to reduce interference between the at least some of thefirst timestampable localization signals and the second timestampablelocalization signals that overlap.

In some embodiments, the first timestampable localization signals maycomprise first ultra-wideband (UWB) signals, and the secondtimestampable localization signals may comprise second UWB signals.

In some embodiments, the at least one type of transmissioncharacteristic may comprise at least one of transmission centerfrequency, transmission frequency bandwidth, preamble code, and preamblemodulation scheme.

In some embodiments, one of the plurality of positioning anchors maycomprise first and second antennas and may be configured to transmit oneof the first timestampable localization signals using the first antennaand one of the second timestampable localization signals using thesecond antenna.

In some embodiments, the one positioning anchor may be configured totransmit the one first timestampable localization signal and the onesecond timestampable localization signal such that they overlap in time.

In some embodiments, the self-localizing apparatus may comprise at leastone reception setting. In some embodiments, the method may furthercomprise configuring the at least one reception setting of theself-localizing apparatus to select which of the first and secondtimestampable localization signals to receive.

In some embodiments, the method may further comprise using theself-localizing apparatus to determine whether to receive one of thefirst timestampable localization signals or one of the secondtimestampable localization signals based on information. In someembodiments, the information may comprise configuration informationreceived as part of a previously received timestampable localizationsignal. In some embodiments, the information may comprise informationstored on memory of the self-localizing apparatus. In some embodiments,the information may comprise one of an internal metric of theself-localizing apparatus and an internal state of the self-localizingapparatus.

In some embodiments, the method may further comprise using one of theplurality of positioning anchors to receiving at least one of the firsttimestampable localization signals and the second timestampablelocalization signals transmitted by at least one other of the pluralityof positioning anchors. In some embodiments, the method may furthercomprise using the one positioning anchor to determine whether toreceive one of the first timestampable localization signals or one ofthe second timestampable localization signals based on information. Insome embodiments, the information may comprise configuration informationreceived as part of a previously received timestampable localizationsignal. In some embodiments, the information may comprise informationstored on memory of the one positioning anchor.

In some embodiments, the first set of transmission characteristics andthe second set of transmission characteristics may comprise the samecenter frequency and transmission frequency bandwidth.

In some embodiments, a localization system is provided. In someembodiments, the localization system may comprise a plurality ofpositioning anchors. In some embodiments, the plurality of positioninganchors may be configured to transmit first timestampable localizationsignals according to a first transmission schedule. In some embodiments,the first timestampable localization signals may comprise a first set oftransmission characteristics. In some embodiments, the firsttimestampable localization signals may be used by a self-localizingapparatus to determine position information within a first geographicregion.

In some embodiments, the plurality of positioning anchors may beconfigured to transmit second timestampable localization signalsaccording to a second transmission schedule. In some embodiments, thesecond timestampable localization signals may comprise a second set oftransmission characteristics. In some embodiments, the secondtimestampable localization signals may be used by the self-localizingapparatus to determine position information within a second geographicregion.

In some embodiments, the first geographic region and the secondgeographic region may at least partially overlap. In some embodiments,at least some of the first timestampable localization signals and thesecond timestampable localization signals may be transmitted such thatthey overlap in time. In some embodiments, at least one type oftransmission characteristic may be different in the first set oftransmission characteristics and the second set of transmissioncharacteristics to reduce interference between the at least some of thefirst timestampable localization signals and the second timestampablelocalization signals that overlap.

In some embodiments, the first timestampable localization signals maycomprise first ultra-wideband (UWB) signals, and the secondtimestampable localization signals may comprise second UWB signals.

In some embodiments, the plurality of positioning anchors may furthercomprises a first and a second set of three radio frequency anchors.Each of the radio frequency anchors may be configured to emit a radiofrequency signal. In some embodiments, each of the radio frequencyanchors may comprise an anchor antenna, an anchor clock interfaceoperable to receive an anchor clock signal, and an analog transmissionelectronics.

In some embodiments, each of the radio frequency anchors may comprisedigital transmission electronics operationally coupled to the anchorclock interface and the analog transmission electronics and operable toemit the radio frequency signal at a scheduled transmission time withreference to the anchor clock signal.

In some embodiments, the system may further comprise a self-localizingapparatus. In some embodiments, the self-localizing apparatus may beconfigured to receive the radio frequency signals. In some embodiments,the self-localizing apparatus may comprise an apparatus antenna; anapparatus clock interface configured to receive an apparatus clocksignal; and apparatus analog reception electronics.

In some embodiments, the system may further comprise apparatus digitalreception electronics operationally coupled to the apparatus clockinterface and the apparatus analog reception electronics and configuredto timestamp the received radio frequency signals with reference to theapparatus clock signal. In some embodiments, the first and second setsof radio frequency anchors may operate in geographically adjacent cellswith an overlapping region. In some embodiments, the self-localizingapparatus may be configured to receive the radio frequency signals fromthe first set of radio frequency anchors or from the second set of radiofrequency anchors when positioned in the overlapping region. In someembodiments, the plurality of positioning anchors may be configured touse at least one of separation of signals in time, separation of signalsin space, or separation of signals in frequency to mitigate signalinterference between the first and second sets of radio frequencyanchors.

In some embodiments, the at least one type of transmissioncharacteristic may comprise at least one of transmission centerfrequency, transmission frequency bandwidth, preamble code, and preamblemodulation scheme.

In some embodiments, one of the plurality of positioning anchors may befurther configured to receive at least one of the first timestampablelocalization signals and the second timestampable localization signalstransmitted by at least one other of the plurality of positioninganchors.

According to another aspect of the present disclosure, a self-localizingapparatus for determining a vehicle's position is provided. In someembodiments, the self-localizing apparatus may comprise a firstsubsystem and a second subsystem.

In some embodiments, the first subsystem may comprise a first antennathat may be operable to receive a first radio frequency signal, and afirst analog reception electronics that may be configured to amplify thefirst radio frequency signal. The first subsystem may also comprise afirst digital reception electronics that may configured to timestamp theamplified first radio frequency signal with reference to a clock signal;and a first localization unit that may be configured to compute a firstestimate of the self-localizing apparatus' position in a coordinatesystem based on the timestamp of the amplified first radio frequencysignal.

In some embodiments, the second subsystem may comprise a second antennathat may be operable to receive a second radio frequency signal, and asecond analog reception electronics that may be configured to amplifythe second radio frequency signal. The second subsystem may alsocomprise a second digital reception electronics that may configured totimestamp the amplified second radio frequency signal with reference toa clock signal; and a second localization unit that may be configured tocompute a second estimate of the self-localizing apparatus' position ina coordinate system based on the timestamp of the amplified second radiofrequency signal.

In some embodiments, each of the first subsystem and the secondsubsystem may be configured to be selectively used to control thevehicle without relying on the other subsystem.

In some embodiments, the first subsystem and the second subsystem may befully redundant. For example, in some embodiments, the first subsystemmay further comprise a first clock. In some embodiments, the firstdigital reception electronics may be configured to timestamp theamplified first radio frequency signal with reference to a first clocksignal generated by the first clock. In some embodiments, the secondsubsystem may further comprise a second clock. In some embodiments, thesecond digital reception electronics may be configured to timestamp theamplified second radio frequency signal with reference to a second clocksignal generated by the second clock.

In some embodiments, the first subsystem may further comprise a firstsynchronization unit configured to compute a clock correction for thefirst clock. In some embodiments, the second subsystem may furthercomprise a second synchronization unit configured to compute a clockcorrection for the second clock.

In some embodiments, the first subsystem may further comprise a firstsensor for sensing at least one of a position, orientation, or velocityof the self-localizing apparatus relative to an external referenceframe. In some embodiments, the first localization unit may beconfigured to compute the first estimate of the self-localizingapparatus' position further based on a first signal generated by thefirst sensor. In some embodiments, the second subsystem may furthercomprise a second sensor for sensing at least one of a position,orientation, or velocity of the self-localizing apparatus relative to anexternal reference frame. In some embodiments, the second localizationunit may be configured to compute the second estimate of theself-localizing apparatus' position further based on a second signalgenerated by the second sensor. In some embodiments, the first sensormay be a first global property sensor; and the second sensor may be asecond global property sensor.

In some embodiments, the first subsystem may further comprise a firstcompensation unit. In some embodiments, the first localization unit maybe configured to compute the first estimate of the self-localizingapparatus' position further based on data provided by the firstcompensation unit. In some embodiments, the second subsystem may furthercomprise a second compensation unit. In some embodiments, the secondlocalization unit may be configured to compute the second estimate ofthe self-localizing apparatus' position further based on data providedby the second compensation unit.

In some embodiments, the first subsystem and the second subsystem may bepartially redundant. For example, in some embodiments, theself-localizing apparatus may comprise a clock. The first digitalreception electronics may be configured to timestamp the amplified firstradio frequency signal with reference to a first clock signal generatedby the clock. The second digital reception electronics may be alsoconfigured to timestamp the amplified second radio frequency signal withreference to the first clock signal generated by the clock. In someembodiments, the self-localizing apparatus may comprise asynchronization unit. In some embodiments, the synchronization unit maybe configured to compute a clock correction for the clock.

In some embodiments, the self-localizing apparatus may further comprisea sensor for sensing at least one of a position, orientation, orvelocity of the self-localizing apparatus relative to an externalreference frame. In some embodiments, the first localization unit may beconfigured to compute the first estimate of the self-localizingapparatus' position further based on a first signal generated by thesensor. In some embodiments, the second localization unit may beconfigured to compute the second estimate of the self-localizingapparatus' position further based on the first signal generated by thesensor. In some embodiments, the sensor is a global property sensor.

In some embodiments, the self-localizing apparatus may further comprisea compensation unit. In some embodiments, the first localization unitmay be configured to compute the first estimate of the self-localizingapparatus' position further based on data provided by the compensationunit. In some embodiments, the second localization unit may beconfigured to compute the second estimate of the self-localizingapparatus' position further based on data provided by the compensationunit.

In some embodiments, a self-localizing apparatus for use in alocalization network is provided. In some embodiments, the localizationnetwork may comprise a plurality of anchors configured to transmit radiofrequency signal. In some embodiments, the self-localizing apparatus maycomprise an antenna that may be operable to receive radio frequencysignals from the localization network. In some embodiments, theself-localizing apparatus may comprise analog reception electronics thatmay be configured to amplify the radio frequency signals received by theantenna.

In some embodiments, the self-localizing apparatus may comprise digitalreception electronics that may be configured to timestamp the amplifiedradio frequency signals with reference to a first clock signal togenerate a plurality of timestamps. In some embodiments, theself-localizing apparatus may comprise a localization unit. In someembodiments, the localization unit may be configured to compute anestimate of the self-localizing apparatus' position in a coordinatesystem based on the timestamps, and determine to receive a selectedfuture radio frequency signal from at least two future radio frequencysignals.

In some embodiments, the localization unit may be configured toconfigure at least one of the antenna, the analog reception electronics,and the digital reception electronics to receive the selected radiofrequency signal; and compute an updated estimate of the self-localizingapparatus' position in the coordinate system based on the receivedselected radio frequency signal.

In some embodiments, the self-localizing apparatus of claim 170 mayfurther comprise digital and analog transmission electronics that may beconfigured to transmit the self-localizing apparatus' position to atleast one of the plurality of anchors.

In some embodiments, the received radio frequency signals may eachcomprises a payload. In some embodiments, the digital receptionelectronics may be configured to extract the payload. In someembodiments, the payload may identify at least one anchor of theplurality of anchors that may be configured to transmit a localizationsignal during at least one future time slot.

In some embodiments, the localization unit may be configured todetermine to receive the selected future radio frequency signal based onthe location of the anchor that may be configured to transmit theselected future radio frequency signal and a variance associated withthe computed estimate of the self-localizing apparatus' position.

In some embodiments, the at least two future radio frequency signals maypartially overlap in time. In some embodiments, the localization unitmay be configured to determine to receive the entire selected futureradio frequency signal and only a portion of another of the at least twofuture radio frequency signals. In some embodiments, the localizationunit is configured to receive one of (i) a portion of the first and theentire second of the at least two future radio frequency signals, or(ii) the entire first and none of the second of the at least two futureradio frequency signals. In some embodiments, the at least two futureradio frequency signals may use different preamble codes. In someembodiments, the at least two future radio frequency signals may betransmitted by different localization networks.

In some embodiments, the localization unit may be further configured tocompute the estimate of the self-localizing apparatus' position in thecoordinate system based on known locations of the anchors configured totransmit the radio frequencies received by the antenna.

In some embodiments, a method for determining a vehicle's position usinga self-localizing apparatus is provided. In some embodiments, theself-localizing apparatus may comprise a first subsystem and a secondsubsystem.

In some embodiments, the method may comprise using a first antenna ofthe first subsystem to receive a first radio frequency signal. Themethod may further comprise using first analog reception electronics ofthe first subsystem to amplify the first radio frequency signal.

The method may further comprise using first digital receptionelectronics of the first subsystem to timestamp the amplified firstradio frequency signal with reference to a clock signal. The method mayfurther comprise using a first localization unit of the first subsystemto compute a first estimate of the self-localizing apparatus' positionin a coordinate system.

In some embodiments, the method may comprise using a second antenna ofthe second subsystem to receive a second radio frequency signal. Themethod may further comprise using second analog reception electronics ofthe second subsystem to amplify the second radio frequency signal.

The method may further comprise using second digital receptionelectronics of the second subsystem to timestamp the amplified secondradio frequency signal with reference to a clock signal. The method mayfurther comprise using a second localization unit of the secondsubsystem to compute a second estimate of the self-localizing apparatus'position in a coordinate system.

The method may further comprise using one of the first subsystem and thesecond subsystem without relying on the other subsystem to control thevehicle.

In some embodiments, a localization method for a self-localizingapparatus in a localization network is provided. In some embodiments,the localization network may comprise a plurality of anchors configuredto transmit radio frequency signals. In some embodiments, the method maycomprise using an antenna to receiving radio frequency signals from thelocalization network. The method may also comprise using analogreception electronics to amplify the radio frequency signals received bythe antenna. The method may also comprise, using digital receptionelectronics to timestamp the amplified radio frequency signals withreference to a first clock signal to generate a plurality of timestamps.

The method may also comprise using a localization unit to compute anestimate of the self-localizing apparatus' position in a coordinatesystem based on the timestamps. The method may also comprise using thelocalization unit to determine to receive a selected future radiofrequency signal from at least two future radio frequency signals. Themethod may also comprise using the localization unit to configure theanalog reception electronics, and the digital reception electronics toreceive the selected radio frequency signal. The method may furthercomprise using the localization unit to compute an updated estimate ofthe self-localizing apparatus' position in the coordinate system basedon the received selected radio frequency signal.

While certain aspects of the present disclosure have been particularlyshown and described with reference to exemplary embodiments thereof, itwill be understood by those of ordinary skill in the art that variouschanges in form and details may be made therein without departing fromthe spirit and scope of the present disclosure as defined by thefollowing claims. For example, specific aspects of the presentdisclosure that apply to timestampable signals may apply equally well toUWB signals, or vice versa. As another example, specific aspects of thepresent disclosure that apply to timestampable signals may apply equallyto localization signals that are not timestampable.

It will also be understood that the transceivers, apparatus, andcomponents of the present disclosure may comprises hardware componentsor a combination of hardware and software components. The hardwarecomponents may comprise any suitable tangible components that arestructured or arranged to operate as described herein. Some of thehardware components (e.g., the scheduler, scheduling unit controller,scheduling unit, synchronization unit, scheduling unit, localizationunit, compensation unit, control unit, digital reception electronics,digital transmission electronics, etc.) may comprise processing circuity(e.g., a processor or a group of processors) to perform the operationsdescribed herein. The software components may comprise code recorded ontangible computer-readable medium. The processing circuitry may beconfigured by the software components to perform the describedoperations.

It is therefore desired that the present embodiments be considered inall respects as illustrative and not restrictive.

FIGURE NUMERALS

-   100 Localization system-   110 Scheduler-   120 Scheduling unit controller-   130, 130 a, 130 b Transceivers-   140, 140 a, 140 b Self-localizing apparatuses-   202 Timestampable localization signal-   210 Clock-   212, 212 a, 212 b Antennas-   214, 214 a, 214 b Transceiver analog transmission electronics-   216, 216 a, 216 b Transceiver digital transmission electronics-   218 Scheduling unit-   220, 220 a, 220 b Transceiver analog reception electronics-   222, 222 a, 222 b Transceiver digital reception electronics-   224 Transceiver synchronization unit-   226 Sensor-   228 Global property sensor-   230 Transceiver memory-   302 Transceiver signal-   400 Structural element-   402 a, 402 b Clock interfaces-   502, 502 a, 502 b, 502 c Self-localizing apparatus antennas-   504, 504 a, 502 b Self-localizing apparatus analog reception    electronics-   506, 506 a, 506 b Self-localizing apparatus digital reception    electronics-   508 Self-localizing apparatus clock-   510 Self-localizing apparatus synchronization unit-   512, 512 a, 512 b Self-localizing apparatus localization units-   514, 514 a, 514 b Self-localizing apparatus onboard sensors-   516 Compensation unit-   518 Self-localizing apparatus memory-   520 Global property sensor-   600 Progression of time as measured in the clock of self-localizing    apparatus A-   602 Arrival time of first message at self-localizing apparatus A's    antenna-   604 Difference between time-stamp of first message by    self-localizing apparatus A's digital reception electronics and    arrival time of first message at self-localizing apparatus A's    antenna-   606 Time-stamp of first message by self-localizing apparatus A's    digital reception electronics-   612 Arrival time of second message at self-localizing apparatus A's    antenna-   614 Difference between time-stamp of second message by    self-localizing apparatus A's digital reception electronics and    arrival time of second message at self-localizing apparatus A's    antenna-   616 Time-stamp of second message by self-localizing apparatus A's    digital reception electronics-   700 Structural element-   702 Communication path-   800 Radio frequency switch-   900 Reception timestamp-   902 Clock correction-   904 Effect compensation-   906 Corrected time of arrival-   910 Remote global property-   912 Compare-   914 Global property model-   920 Extended Kalman filter process update-   922 Prior-   924 Extended Kalman filter measurement update-   926 Posterior-   930 Location-   940 Control unit-   1000 Mobile robot-   1002 Central processing electronics-   1004 Actuators-   1006 Accelerometer-   1008 Gyroscope-   1010 Propeller-   1102 Horizontal controller-   1104 Command specifying vehicle acceleration in the x-direction-   1106 Command specifying vehicle acceleration in the y-direction-   1110 Vertical controller-   1112 Command specifying vehicle acceleration in the z-direction-   1120 Reduced attitude controller-   1122 Command specifying vehicle pitch rate-   1124 Command specifying vehicle roll rate-   1130 Yaw controller-   1132 Command specifying vehicle yaw rate-   1142 Body rate controller-   1144 Actuator commands-   1146 Movement-   1200 Radial coverage of transceiver signal-   1210 Wireless communication between two in-range transceivers-   1220 Overlapping spatial coverage by multiple transceivers within    one cell-   1240 Overlapping spatial coverage by multiple transceiver cells-   1410 Overlapping spatial coverage by multiple transceivers within    one cell-   1420 Overlapping spatial coverage by multiple transceiver cells-   1610 Input parameter map with performance contours-   1620 Input parameter map with binary performance-   1710 Dynamic positioning performance map-   1810 Panel-   1820 a, 1820 b Location maps-   1830 a, 1830 b Coverage requirement maps-   1840 a, 1840 b Schedules-   1910 a, 1910 b, 1910 c, 1910 d Location maps-   2010 a, 2010 b, 2010 c, 2010 d Location maps-   2110 Localization signal preamble-   2112 Localization signal start frame delimiter (SFD)-   2114 Localization signal packet header-   2116 Localization signal payload-   2122 Time at which localization signal transmission begins-   2124 Time at which localization signal transmission ends-   2200 Transmission schedule-   2202 a, 2202 b, 2202 c, 2202 d Localization signals-   2310 Receiver activity-   2402 a, 2402 b, 2402 c Localization signals-   2500 Localization system-   2510 Performance map-   2610 Performance map-   2700 Localization system-   2710 Performance map-   2810 Performance map-   2900 Transmission schedule-   3000 Transmission schedule-   3100 Flow Chart-   3102 Flow chart step-   3104 Flow chart step-   3106 Flow chart decision-   3108 Flow chart step-   3110 Flow chart decision-   3112 Flow chart step-   3114 Flow chart decision-   3116 Flow chart step-   3118 Flow chart step-   3210 Flow chart step-   3222 Flow chart step-   3124 Flow chart step-   3200 Indoor and outdoor environment-   3210 Building-   3220 Access area-   3230 Flying machine-   3240 Landing area-   3250 Second area-   3310 Localization network-   3320 Localization network-   3330 Bridge anchors

What is claimed:
 1. A localization system, comprising: a plurality ofpositioning anchors configured to wirelessly transmit localizationsignals capable of being used by self-localizing apparatus within aregion to determine position information, wherein: a first positioninganchor of the plurality of the positioning anchors is configured towirelessly transmit first localization signals; a second positioninganchor of the plurality of the positioning anchors is configured towirelessly transmit second localization signals; a third positioninganchor of the plurality of the positioning anchors is configured towirelessly transmit third localization signals; and each of theplurality of positioning anchors is communicatively coupled to at leastone scheduling unit, wherein the at least one scheduling unit isconfigured to: schedule the transmission of the localization signals tocontrol positioning performance within the region by: scheduling thefirst positioning anchor to transmit the first localization signals at afirst transmission rate; scheduling the second positioning anchor totransmit the second localization signals at a second transmission rate;and scheduling the third positioning anchor to transmit the thirdlocalization signals at a third transmission rate, wherein the firsttransmission rate is greater than the second transmission rate toprovide greater positioning performance within a portion of the region.2. The localization system of claim 1, wherein the at least onescheduling unit is further configured to adjust the transmission rate ofthe localization signals to change the positioning performance withinthe region during operation.
 3. The localization system of claim 2,wherein the at least one scheduling unit is configured to adjust thetransmission rate of the localization signals based on a known locationof the self-localizing apparatus.
 4. The localization system of claim 3,wherein the at least one scheduling unit is configured to receive theknown location of the self-localizing apparatus.
 5. The localizationsystem of claim 2, wherein the at least one scheduling unit isconfigured to adjust the transmission rate of the localization signalsbased on a known motion of the self-localizing apparatus.
 6. Thelocalization system of claim 5, wherein the motion is a flight pattern.7. The localization system of claim 1, wherein the localization signalscomprise ultra-wideband (UWB) localization signals, each comprising apreamble code and a payload.
 8. The localization system of claim 7,wherein the payload of at least some of the UWB localization signalscomprises commands and wherein the at least one scheduling unit isconfigured to schedule the transmission of the UWB localization signalsto optimize the propagation of the commands to at least one of aself-localizing apparatus and the plurality of the anchors.
 9. Thelocalization system of claim 7, wherein each of the plurality ofpositioning anchors comprises a clock, wherein the payload of at leastsome of the UWB localization signals comprises synchronization data,wherein each of the plurality of positioning anchors is configured toreceive the synchronization data from UWB localization signals receivedfrom at least one other positioning anchor, and wherein the at least onescheduling unit is configured to schedule the transmission of the UWBlocalization signals to optimize the synchronization of the clocks. 10.The localization system of claim 9, wherein each of the plurality ofpositioning anchors comprises a synchronization unit, wherein eachsynchronization unit is configured to compute a correction for at leastone of a clock offset and a clock rate for its respective clock based onthe received synchronization data.
 11. The localization system of claim1, wherein the at least one scheduling unit is configured to schedulethe transmission of the localization signals to increase at least one ofprecision, accuracy, or update rate in one or more portions of theregion.
 12. The localization system of claim 1, wherein the at least onescheduling unit is configured to schedule the transmission of thelocalization signals based on time slots in a schedule, wherein thefirst positioning anchor is assigned more time slots in the schedulethan the second positioning anchor.
 13. The localization system of claim1, wherein the at least one scheduling unit comprises a first schedulingunit, a second scheduling unit, and a third scheduling unit, wherein thefirst scheduling unit is physically coupled to the first positioninganchor and is configured to schedule the transmission of the firstlocalization signals, wherein the second scheduling unit is physicallycoupled to the second positioning anchor and is configured to schedulethe transmission of the second localization signals, and wherein thethird scheduling unit is physically coupled to the third positioninganchor and is configured to schedule the transmission of the thirdlocalization signals.
 14. The localization system of claim 1, whereinthe region comprises a three-dimensional region.
 15. A method fortransmitting localization signals in a localization system comprising aplurality of positioning anchors, the method comprising: wirelesslytransmitting, using a first positioning anchor of the plurality ofpositioning anchors, first localization signals during two or more timeslots of a transmission schedule; wirelessly transmitting, using asecond positioning anchor of the plurality of positioning anchors,second localization signals during one or more time slots of thetransmission schedule; and wirelessly transmitting, using a thirdpositioning anchor of the plurality of positioning anchors, thirdlocalization signals during one or more time slots of the transmissionschedule, wherein: the first localization signals, the secondlocalization signals, and the third localization signals are capable ofbeing used by self-localizing apparatus within a region to determineposition information; and the first positioning anchor is assigned moretime slots in the transmission schedule than the second positioninganchor to provide greater positioning performance within a portion ofthe region.
 16. The method of claim 15, further comprising: adjusting,using one or more scheduling units, the number of time slots the firstpositioning anchor, the second positioning anchor, and the thirdpositioning anchor are assigned in the transmission schedule duringoperation.
 17. The method of claim 16 wherein the number of time slotsare adjusted based on a known location of the self-localizing apparatus.18. The method of claim 17, further comprising wirelessly receiving theknown location of the self-localizing apparatus.
 19. The method of claim16, wherein the time slots of the transmission schedule are assignedbased on one or more of a known location of the self-localizingapparatus, optimization of propagation of commands included as part ofat least some of the first, second, and third localization signals,optimization of synchronization of clocks associated with the first,second, and third positioning anchors, and at least one of improvedprecision, accuracy, or update rate in one or more portions of theregion.
 20. The method of claim 15, further comprising: generating,using a first clock, first timing signals used to determine when thefirst positioning anchor wirelessly transmits the first localizationsignals; generating, using a second clock, second timing signals used todetermine when the second positioning anchor wirelessly transmits thesecond localization signals; and generating, using a third clock, athird timing signal used to determine when the third positioning anchorwirelessly transmits the third localization signals, wherein the first,second, and third clocks are synchronized.